A Nichtnegativstellensatz on singular varieties under the denseness of regular loci

Let $V$ be a real algebraic variety with singularities and $f$ be a real polynomial non-negative on $V$. Assume that the regular locus of $V$ is dense in $V$ by the usual topology. Using Hironaka’s resolution of singularities and Demmel–Nie–Powers’ Nichtnegativstellensatz, we obtain a sum of squares-based representation that characterizes the non-negativity of $f$ on $V$. This representation allows us to build up exact semidefinite relaxations for polynomial optimization problems whose optimal solutions are possibly singularities of the constraint sets.