-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment

linear in the node positions, while all the non-linear terms are isolated in individual elements. We then

-redundant, potentially compliant robotic systems. Examples of such systems that motivate this work include tensegrity

specifically, we apply t-sne, a nonlinear dimension reduction technique and visualize the embedding vectors

framework for reasoning about dynamic systems, including convergence guarantees and robustness to model

leads to systems of equations, sometimes nonlinear, that can involve millions of variables making it