Robust controller design by quadratic programming

The procedure of robust controller design by quadratic programming makes use of a stability measure defined as the minimal distance between a preselected stable simplex and vertices of an uncertain system characteristic polynomial. A constructive procedure for generating stable simplex in polynomial coefficient space is given starting from the unit hypercube of reflection coefficients of monic polynomials. This procedure is quite straightforward: an appropriate stable point has to be chosen and then the edges of the stable simplex are generated by reflection vectors of this polynomials