Stability region and critical delay

Abstract

The location of roots of the characteristic equation of a linear delay differential equation (DDE) determines the stability of the linear DDE. However, by its transcendency, there is no general criterion on the contained parameters for the stability. Here we mainly concentrate on the study of a simple transcendental equation $(*)$ $z + a - w \mathrm{e}^{-\tau z} = 0$ with coefficients of real $a$ and complex $w$ and a delay parameter $\tau > 0$ to tackle this transcendency brought by delay. The consideration is twofold: (i) to give the stability region in the parameter space for Eq.~$(*)$ by using the critical delay and (ii) to compare this with a graphical method (so-called the method of D-partitions) by combining with the delay sequence obtained by conditions for purely imaginary roots. By (i), we obtain another proof of Hayes' and Sakata's results, which reveals the nature of imaginary $w$ case in Eq.~$(*)$. By (ii), we propose a method combining the analytic one and geometric one. This combination is important because it will be helpful in studying characteristic equations having higher-dimensional parameters.