Let $A_1,A_2,\dots,A_M$ be given $N\times N$ hermitian matrices. The numerical range is defined as the set \begin{align} \mathbb{S}=\{(u^HA_1u,\dots,u^HA_Mu)\in \mathbb{R}^M\mid u^Hu=1\} \end{align} By toeplitz hausdorff theorem, $\mathbb{S}$ is convex for

1. $M=2$, $N\geq 2$
2. $M=3$, $N\geq 3$

I would like to know the other cases where $\mathbb{S}$ is convex. Can some body point me to known references?