Guernane, RedaHammamouche, Sofia2026-05-102025https://dspace.univ-boumerdes.dz/handle/123456789/1637350 p. : ill.I would like to sincerely thank my supervisor, Dr Guernane Reda, for introducing me to control research and for his insight and patience throughout this work. His perspective helped shape my understanding of the fiel dan dprovide ddirectio na tke ymoment sduring the thesis. I also extend my gratitude to the broader research community in control theory and robotics. The foundational work on feedback motion planning, LQR-Trees, and sum-of-squares methods formed the backbone of this study. Open access to tools, publications, and software greatly facilitated the development and implementation of this project.enLQR based feedbackThesis