Control of polynomial dynamical systems on rectangles

In this paper we focus on a particular class of nonlinear dynamical systems given by polynomial vector fields in rectangular domains (boxes). This is a generalization of the work of Belta and Habets dealing with multi-affine dynamical systems on rectangles. The main idea is to use the blossoming principle which allows us to relate our polynomial dynamical system to a multi-affine one. This technique allows us to establish sufficient conditions for invariance of a rectangle or exit of a rectangle through a given facet. We extend these results to handle control synthesis. Finally, we show how our approach can be used to solve motion planning problem.