Linear matrix inequalities for robust strictly positive real design

A necessary and sufficient condition is proposed for the existence of a polynomial p(s) such that the rational function p(s)/q(s) is robustly strictly positive real when q(s) is a given Hurwitz polynomial with polytopic uncertainty. It turns out that the whole set of candidates p(s) is a convex subset of the cone of positive semidefinite matrices, resulting in a straightforward strictly positive real design algorithm based on linear matrix inequalities