Sum of roots with positive real parts

H. Anai, S. Hara, K. Yokoyama


In this paper we present a method to compute or estimate the sum of roots with positive real parts (SORPRP) of a polynomial, which is related to a certain index of ``average" stability in optimal control, without computing explicit numerical values of the roots. The method is based on symbolic and algebraic computations and enables us to deal with polynomials with parametric coefficients for their SORPRP.

This leads to provide a novel systematic method to achieve optimal regulator design in control by combining the method with quantifier elimination. We also report some experimental result for a typical class of plants and confirm the effectiveness of the proposed method.