Asymptotic stability implies the existence of a local polynomial Lyapunov function

Abstract

We show that every globally asymptotically stable system with a twice continuously differentiable vector field admits a local polynomial Lyapunov function on an arbitrary bounded neighborhood of the origin.

arXiv commentThere is a known counter-example. See "A Globally Asymptotically Stable Polynomial Vector Field with no Polynomial Lyapunov Function", by Amir Ali Ahmadi, Miroslav Krstic, and Pablo A. Parrilo, 50th IEEE Conference on Decision and Control. Our proof attempt will only work if there is a Lyapunov function such that the Hessian of its Lie derivative is negative definite in 0