Positivstellensatz\"e for noncommutative rational expressions

We derive some Positivstellensatz\"e for noncommutative rational expressions from the Positivstellensatz\"e for noncommutative polynomials. Specifically, we show that if a noncommutative rational expression is positive on a polynomially convex set, then there is an algebraic certificate witnessing that fact. As in the case of noncommutative polynomials, our results are nicer when we additionally assume positivity on a convex set-- that is, we obtain a so-called "perfect Positivstellensatz" on convex sets.