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In this paper, we consider an extended concept of invariant for polynomial dynamical system (PDS) with domain and initial condition, and establish a sound and complete criterion for checking semi-algebraic invariants (SAI) for such PDSs. The main idea is encoding relevant dynamical properties as conditions on the high order Lie derivatives of polynomials occurring in the SAI. A direct consequence of this criterion is a relatively complete method of SAI generation based on template assumptionarXiv:1102.0705v2 fatcat:kqhsupeanngtfjaiyno5a6khgy