Before revision: all members of the family are stable) if and only if the four so-called Kharitonov polynomials are stable.
After revision: all members of the family are stable) if and only if the four so-called 'Kharitonov s^2 + l_3 s^3 + l_4 s^4 + u_5 s^5 + \cdots \,</math> are stable.