Time-Varying Semidefinite Programs: Under Strict Feasibility, Feasible Polynomial Solutions Have Objective Values Converging to the TV-SDP Optimal ValueResearch Paper
Motivation
Many planning problems ask for a decision that varies over a time horizon and must satisfy a constraint at every instant, possibly with cumulative effects of past decisions. The applications in the source paper are a maximum-flow problem with time-varying pipeline capacities, a wireless coverage problem for a moving target region, and the approximation of Pareto curves of bi-objective semidefinite programs. Ahmadi and El Khadir (arXiv:1808.03994, Mathematics of Operations Research, 2021) model these as time-varying semidefinite programs (TV-SDPs), a common generalization of semidefinite programming and of the continuous linear programs of Bellman (1953), Tyndall (1965) and Levinson (1966), which are the case of diagonal matrices.
A TV-SDP is an infinite-dimensional problem: its variable is a function. The paper's main message is that, under a strict feasibility assumption, nothing is lost by searching only over polynomial solutions, and that the best polynomial solution of a fixed degree can be computed by an ordinary SDP through sum-of-squares certificates. The first statement, Theorem 4, is what justifies the second as a convergent approximation scheme, and it is the goal of this mission.
Setting
Fix integers . Let be the set of measurable functions that are bounded, . The data are polynomial: an objective of univariate polynomials, symmetric matrices with polynomial entries, and symmetric kernels with entries polynomial in . For define the matrix function
A function is feasible if and for almost every . The TV-SDP is
It is strictly feasible if some and satisfy for almost every . A polynomial solution is for polynomials .
The proof uses the mollifying operators , : with the bump for , otherwise, normalized so that ,
applied entrywise to vector- and matrix-valued functions. In Lean these are Ln, Sm, Data, F, Feasible, StrictlyFeasible, obj, opt, polySol, J, cJ, Mv, MvVec and MvMat in the namespace TVSDP.PolyOpt.
Formalization targets
Goal: Theorem 4 (p. 11)
If the TV-SDP is strictly feasible, there are polynomial vectors such that every is feasible and
the limit taken in the extended reals, so is included.
Milestones
- Proof of Theorem 4, p. 13. For feasible and strictly feasible with margin , the combination satisfies a.e., and its objective tends to as .
- Proposition 1, p. 11 (first two sentences). is continuous and for bounded measurable .
- Lemma 3(a), p. 12. a.e. implies for all .
- Lemma 3(b), p. 12, and the explicit rate of its proof: for polynomial .
- Proof of Theorem 4, p. 13 (minimum-eigenvalue step). If on and , then on for large .
- Proof of Theorem 4, pp. 13–14. with .
Significance
The result. Theorem 4 says that the supremum of a strictly feasible TV-SDP over polynomial solutions equals its supremum over all bounded measurable solutions. Combined with the paper's Theorem 6, which computes the best degree- polynomial solution by an SDP, it shows that these SDP values form a nondecreasing sequence of lower bounds converging to . Without it, the polynomial restriction could have a strictly smaller value; Example 1 of the paper shows that this happens when strict feasibility fails, where the unique feasible solution is a step function.
Formalizing it. The result is proved in the paper, not formalized anywhere. A machine-checked proof also has to repair the printed argument: the operator integrates over only and is not normalized near the endpoints ( for ), so three auxiliary statements of §3.1 are false as printed (see Formalization scope), although Theorem 4 itself is true. Any complete proof therefore needs an argument that handles the endpoints, which the formal development would record.
Difficulty
The natural route is "perturb into the strict interior, smooth, approximate by polynomials", and each step preserves feasibility only up to a uniform error, so the margin must survive all three. The difficulty is uniformity on the closed interval: smoothing commutes with only approximately, the Volterra term couples times, and at and the mollifier of Definition 3 loses half its mass. Applying the printed Corollary 1 directly fails at the endpoints. In Lean, a further cost is the bookkeeping between "almost every " for feasibility and "every " for the smoothed and polynomial solutions.
Formalization scope
Conventions committed to:
- Functions are total maps on ; only their values on matter. "Almost every " is with respect to Lebesgue measure restricted to (
volume.restrict (Set.Icc 0 1)), never Lebesgue measure on . - is bounded and measurable, with the sup norm on ; the bold of the paper is with , not Lebesgue .
- The data are polynomial (the paper's standing assumption, p. 3), with symmetric polynomial matrices. Theorem 4 is false for general bounded measurable data.
- is defined entrywise; the kernel term is an interval integral, with variable of the outer time and variable the integration variable .
- is an
ERealsupremum; the matrix inequality is positive semidefiniteness of . - (the page's formula is undefined there); is defined for exactly as in Definition 3, without normalization.
- Matrix norms are the entrywise maximum; the page allows any matrix norm.
Trivializations ruled out: feasibility is a.e. on only, solutions in are bounded, is not a real sSup (which would be on an unbounded set), and polynomial solutions are genuine polynomials evaluated everywhere, not functions that agree with a polynomial almost everywhere.
Deliberately absent: the third sentence of Proposition 1 (uniform convergence for continuous ), Lemma 3(c) and Corollary 1. All three are false for the operator of Definition 3 because of the endpoint effect; for example, Corollary 1 fails for , at . The printed constant on p. 14 has in place of , and with it the Lipschitz display fails; milestone 6 uses the corrected constant. Measurability of is added in Lemma 3(a), where the paper uses it implicitly.
Infrastructure needed: interval mollification of bounded measurable functions, uniform convergence on , the Weierstrass approximation theorem for -valued functions (in Mathlib), and Loewner-order perturbation bounds. The mollifier and the Loewner perturbation lemma are reusable beyond this mission. Contributions of proofs for any milestone, of the missing endpoint-robust smoothing step, and of the paper's Example 1 are welcome.
Selected references
- A. A. Ahmadi and B. El Khadir, Time-varying semidefinite programs, Mathematics of Operations Research, 2021; arXiv:1808.03994v2. https://arxiv.org/abs/1808.03994
- R. Bellman, Bottleneck problems and dynamic programming, Proceedings of the National Academy of Sciences 39(9), 1953. https://doi.org/10.1073/pnas.39.9.947
- W. F. Tyndall, A duality theorem for a class of continuous linear programming problems, Journal of the SIAM 13(3), 1965. https://doi.org/10.1137/0113044
- N. Levinson, A class of continuous linear programming problems, Journal of Mathematical Analysis and Applications 16(1), 1966. https://doi.org/10.1016/0022-247X(66)90184-3
- R. A. Adams and J. J. F. Fournier, Sobolev Spaces, 2nd ed., Academic Press, 2003 (Theorem 2.29, cited for Proposition 1).