Algorithmic search for contraction metrics via SOS programming. - Erin M. Aylward; Pablo A. Parrilo; Jean-Jacques E. Slotine (ACC, 2006)

Explicit SOS decompositions of univariate polynomial matrices and the Kalman-Yakubovich-Popov lemma. - Erin M. Aylward; Sleiman M. Itani; Pablo A. Parrilo (CDC, 2007)

Stability and robustness analysis of nonlinear systems via contraction metrics and SOS programming. - Erin M. Aylward; Pablo A. Parrilo; Jean-Jacques E. Slotine (Autom., 2008)