Kippenhahn's construction revisited

Kippenhahn discovered that the numerical range of a complex square matrix is the convex hull of a plane real algebraic curve. Here, we present an example of a convex set, which has a similar algebraic description as the numerical range, whereas the analogue of Kippenhahn’s construction fails regarding isolated, singular points of the curve. This example prompted us to carefully review Kippenhahn’s assertion and to highlight aspects of a complete proof that was achieved with methods of convex geometry and real algebraic geometry.