A New Breakthrough In Linear-system Theory: Kharitonov's Result

Given a real coefficient polynomial D(s), there exist several procedures for testing whether it is strictly Hurwitz (i.e., whether it has all its zeros in the open left-half plane). If the coefficients of D(s) are uncertain and belong to a known interval, such testing becomes more complicated because there is an infinitely large family of polynomials to which D(s) now belongs. It was shown by Kharitonov that in this case it is necessary and sufficient to test only four polynomials in order to know whether every polynomial in the family is strictly Hurwitz. An interpretation of this result in terms of reactance functions (i.e., LC impedances) was recently proposed. These results were also extended recently for the testing of positive real property of rational transfer functions with uncertain denominators. In this paper we review these results along with detailed proofs and discuss extensions to the discrete-time case.