Convex hulls of monomial curves, and a sparse positivstellensatz

Abstract

Consider the closed convex hull $K$ of a monomial curve given parametrically as $(t^{m_1},\ldots,t^{m_n})$, with the parameter $t$ varying in an interval $I$. We show, using constructive arguments, that $K$ admits a lifted semidefinite description by $\mathcal{O}(d)$ linear matrix inequalities (LMIs), each of size $\left\lfloor \frac{n}{2} \right\rfloor +1$, where $d= \max \{m_1,\ldots,m_n\}$ is the degree of the curve. On the dual side, we show that if a univariate polynomial $p(t)$ of degree $d$ with at most $2k+1$ monomials is non-negative on $\mathbb{R}_+$, then $p$ admits a representation $p = t^0 \sigma_0 + \cdots + t^{d-k} \sigma_{d-k}$, where the polynomials $\sigma_0,\ldots,\sigma_{d-k}$ are sums of squares and $\operatorname{deg} (\sigma_i) \le 2k$. The latter is a univariate positivstellensatz for sparse polynomials, with non-negativity of $p$ being certified by sos polynomials whose degree only depends on the sparsity of $p$. Our results fit into the general attempt of formulating polynomial optimization problems as semidefinite problems with LMIs of small size. Such small-size descriptions are much more tractable from a computational viewpoint.