Positive Invariance Condition for Continuous Dynamical Systems Based on Nagumo Theorem

In this paper, we obtain sufficient and necessary conditions of some classical convex sets as positively invariant sets for a continuous dynamical system, namely positive invariance conditions. The approach is based on Nagumo Theorem by deriving the tangent cones of these sets. We also propose approaches using optimization theory and models to verify the existence of these sufficient and necessary conditions.