The Stroh formalism is a six-dimensional representation of the equatio
ns governing plane motions of an elastic body, stemming from a juxtapo
sition of the displacement and a traction vector. Crucially, the forma
lism leads to a sextic eigenvalue problem which is the mainspring of f
ar-reaching theoretical developments. It is known that the formalism e
xtends to prestressed unconstrained elastic media subject to a restric
tion on the prestress. In this paper, the limitation is removed, and i
t is shown that the sextic eigenvalue problem can also be constructed
for a prestressed elastic medium which is incompressible. The latter p
roblem is exhibited as the limit of the former in a process in which t
he condition of incompressibility is reached through a one-parameter f
amily of nearly incompressible elastic materials. As an application of
the theory, the analysis of surface waves in a homogeneously prestres
sed semi-infinite body of incompressible elastic material is carried a
s far as the derivation of the secular equation, determining the speed
of propagation. Complete results are obtained in the special case in
which the material is orthotropic, with the symmetry axes aligned with
the principal axes of prestress and the surface wave basis.