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+//determining critical value of K
+s=%s
+syms K p
+m=s^3+p*s^2+(2+K)*s+K+1
+cof_a_0 = coeffs(m,'s',0);
+cof_a_1 = coeffs(m,'s',1);
+cof_a_2 = coeffs(m,'s',2);
+cof_a_3 = coeffs(m,'s',3);
+    
+r=[cof_a_0 cof_a_1 cof_a_2 cof_a_3] 
+
+n=length(r);
+routh=[r([4,2]);r([3,1])];
+routh=[routh;-det(routh)/routh(2,1),0];
+t=routh(2:3,1:2); //extracting the square sub block of routh matrix
+routh=[routh;-det(t)/t(2,1),0]
+disp(routh,"rouths tabulation=")
+routh(3,1)=0  //For marginaly stable system
+
+
+
+