Kharitonov's theorem: Generalizations and algorithms
In 1978, the Russian mathematician V. Kharitonov published a remarkably simple necessary and sufficient condition in order that a rectangular parallelpiped of polynomials be a stable set. Here, stable is taken to mean that the polynomials have no roots in the closed right-half of the complex plane. The possibility of generalizing this result was studied by numerous authors. A set, Q, of polynomials is given and a necessary and sufficient condition that the set be stable is sought. Perhaps the most general result is due to Barmish who takes for Q a polytope and proceeds to construct a complicated nonlinear function, H, of the points in Q. With the notion of stability which was adopted, Barmish asks that the boundary of the closed right-half plane be swept, that the set G is considered = to (j(omega)(bar) - infinity is less than omega is less than infinity) and for each j(omega)(sigma)G, require H(delta) is greater than 0. Barmish's scheme has the merit that it describes a true generalization of Kharitonov's theorem. On the other hand, even when Q is a polyhedron, the definition of H requires that one do an optimization over the entire set of vertices, and then a subsequent optimization over an auxiliary parameter. In the present work, only the case where Q is a polyhedron is considered and the standard definition of stability described, is used. There are straightforward generalizations of the method to the case of discrete stability or to cases where certain root positions are deemed desirable. The cases where Q is non-polyhedral are less certain as candidates for the method. Essentially, a method of geometric programming was applied to the problem of finding maximum and minimum angular displacements of points in the Nyquist locus (Q(j x omega)(bar) - infinity is less than omega is less than infinity). There is an obvious connection with the boundary sweeping requirement of Barmish.