computeSOSFunnels: A MATLAB Framework for Invariant Funnel Synthesis using Sum-of-Squares Optimization

computeSOSFunnels v1.0.0 This release introduces a MATLAB framework for computing invariant funnels around nominal trajectories for nonlinear dynamical systems. The pipeline integrates trajectory optimization, feedback control, and Sum-of-Squares (SOS) programming to generate rigorous Lyapunov certificates of stability. Key Capabilities: Invariant Funnels: Guarantees that a system remains within a bounded region despite initial state deviations. Modular Pipeline: Seamlessly connects trajectory optimization, feedback control design via time-varying LQR, and SOS verification. Optimization Stack: Built on YALMIP and SOSTOOLS (requires IPOPT, and MOSEK or SeDuMi solvers). Full Documentation: See the attached computeSOSFunnels_Tutorial.pdf inside the ZIP file for a complete technical report and user guide.