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Complete determination of the polarization state of light requires at least four distinct projective measurements of the associated Stokes vector. Stability of state reconstruction, however, hinges on the condition number k of the corresponding instrument matrix. Optimization of redundant measurement frames with an arbitrary number of analysis states, m, is considered in this Letter in the sense of minimization of k. The minimum achievable k is analytically found and shown to be independent of m, except for m = 5 where this minimum is unachievable. Distribution of the optimal analysis states over the Poincare sphere is found to be described by spherical 2 designs, including the Platonic solids as special cases. Higher order polarization properties also play a key role in nonlinear, stochastic, and quantum processes. Optimal measurement schemes for nonlinear measurands of degree t are hence also considered and found to correspond to spherical 21 designs, thereby constituting a generalization of the concept of mutually unbiased bases. [ABSTRACT FROM AUTHOR]