We explain the raison d’être and basic ideas of input/output logic, sketching the central elements with pointers to other publications for detailed developments. The motivation comes from the logic of norms. Unconstrained input/output operations are straightforward to define, with relatively simple behaviour, but ignore the subtleties of contraryto-duty norms. To deal with these more sensitivel...

This paper presents a systematic method based on the sum of square (SOS) optimization to synthesize control barrier functions (CBFs) for nonlinear polynomial systems subject input constraints. The approach consists two design steps. In first step, using linear-like representation dynamics, an SOS problem is formulated search initial CBF and controller jointly. second iterative procedure involvi...