# Safe and Robust Domains of Attraction for Discrete-Time Systems: A Set-Based Characterization and Certifiable Neural Network Estimation

arXiv: https://arxiv.org/abs/2603.03082 · HTML: https://mlsanity.com/paper/2603.03082/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 44 references that are in the map.
- First posted on arXiv 3 Mar 2026.

## Builds on (most cited first, 11 of 11)

- [Beta-CROWN: Efficient Bound Propagation with Per-neuron Split Constraints for Complete and Incomplete Neural Network Robustness Verification](https://mlsanity.com/paper/2103.06624/) (2021)
- [Fast and Complete: Enabling Complete Neural Network Verification with Rapid and Massively Parallel Incomplete Verifiers](https://mlsanity.com/paper/2011.13824/) (2020)
- [Branch and Bound for Piecewise Linear Neural Network Verification](https://mlsanity.com/paper/1909.06588/) (2019)
- [Complete Verification via Multi-Neuron Relaxation Guided Branch-and-Bound](https://mlsanity.com/paper/2205.00263/) (2022)
- [Neural Network Verification with Branch-and-Bound for General Nonlinearities](https://mlsanity.com/paper/2405.21063/) (2024)
- [Scalable Neural Network Verification with Branch-and-bound Inferred Cutting Planes](https://mlsanity.com/paper/2501.00200/) (2024)
- [Neural Lyapunov Control for Discrete-Time Systems](https://mlsanity.com/paper/2305.06547/) (2023)
- [Physics-Informed Neural Network Lyapunov Functions: PDE Characterization, Learning, and Verification](https://mlsanity.com/paper/2312.09131/) (2023)
- [Learning Region of Attraction for Nonlinear Systems](https://mlsanity.com/paper/2110.00731/) (2021)
- [Safe Domains of Attraction for Discrete-Time Nonlinear Systems: Characterization and Verifiable Neural Network Estimation](https://mlsanity.com/paper/2506.13961/) (2025)
- [Underapproximating Safe Domains of Attraction for Discrete-Time Systems Using Implicit Representations of Backward Reachable Sets](https://mlsanity.com/paper/2409.10657/) (2024)

## Abstract (arXiv)

Analyzing nonlinear systems with attracting robust invariant sets (RISs) requires estimating their domains of attraction (DOAs). Despite extensive research, accurately characterizing DOAs for general nonlinear systems remains challenging due to both theoretical and computational limitations, particularly in the presence of uncertainties and state constraints. In this paper, we propose a novel framework for the accurate estimation of safe (state-constrained) and robust DOAs for discrete-time nonlinear uncertain systems with continuous dynamics, open safe sets, compact disturbance sets, and uniformly locally ℓp-stable compact RISs. The notion of uniform ℓp stability is quite general and encompasses, as special cases, uniform exponential and polynomial stability. The DOAs are characterized via newly introduced value functions defined on metric spaces of compact sets. We establish their fundamental mathematical properties and derive the associated Bellman-type (Zubov-type) functional equations. Building on this characterization, we develop a physics-informed neural network (NN) framework to learn the corresponding value functions by embedding the derived Bellman-type equations directly into the training process. To obtain certifiable estimates of the safe robust DOAs from the learned neural approximations, we further introduce a verification procedure that leverages existing formal verification tools. The effectiveness and applicability of the proposed methodology are demonstrated through four numerical examples involving nonlinear uncertain systems subject to state constraints, and its performance is compared with existing methods from the literature.