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This paper considers the robust stabilization problem for interval plants with parametric uncertainty and uncertain time-delay based on the value set characterization of closed-loop control systems and the zero exclusion principle. Using Kharitonov’s polynomials, it is possible to establish a sufficient condition to guarantee the robust stability property. This condition allows us to solve the control synthesis problem using conditions similar to those established in the loopshaping technique and to parameterize the controllers using stable polynomials constructed from classical orthogonal polynomials.

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A new criterion for Schur stability is derived by using basic results of the theory of orthogonal polynomials. In particular, we use the relation between orthogonal polynomials on the real line and on the unit circle known as the Szegő transformation. Some examples are presented.