General procedure for multivariable polynomial positivity test with control applications
N.K. Bose, A.R. Modarressi · IEEE Transactions on Automatic Control · 1976
A procedure is given to determine whether or not a polynomial in several real variables is globally positive. Emphasis is placed on the resolution of singularities of various types that occur during the implementation of the algorithm. A nontrivial example encountered in application of Lyapunov direct method to stability investigation of nonlinear control systems is given to illustrate the details of the procedure.