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This letter makes several contributions on stability and performance verification of nonlinear dynamical systems controlled by neural networks. First, we show that the stability and performance of a polynomial dynamical system controlled by a neural network with semialgebraically representable activation functions (e.g., ReLU) can be certified by convex semidefinite programming. The result is based on the fact that the semialgebraic representation of the activation functions and polynomial dynamics allows one to search for a Lyapunov function using polynomial sum-of-squares methods. Second, we remark that even in the case of a linear system controlled by a neural network with ReLU activation functions, the problem of verifying asymptotic stability is undecidable. Finally, under additional assumptions, we establish a converse result on the existence of a polynomial Lyapunov function for this class of systems. Numerical results with code available online on examples of state-space dimension up to 50 and neural networks with several hundred neurons and up to 30 layers demonstrate the method.

Stability and Performance Verification of Dynamical Systems Controlled by Neural Networks: Algorithms and Complexity