The geometry and number of the root invariant regions for linear systems

The stability domain is a feasible set for numerous optimization problems. D-decomposition technique is targeted to describe the stability domain in the parameter space for linear parameter-dependent systems. This technique is very simple and efficient for robust stability analysis and design of low-order controllers. However, the geometry of the arising parameter space decomposition into root invariant regions has not been studied in detail; it is an objective of the present paper. We estimate the number of root invariant regions and provide examples, where this number is attained.