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+//caption:stability_using_Routh-hurwitz_criterion
+//example 12.17
+//page 530
+s=%s;
+syms  K
+G=sym('K/((s^3+3*s+2)*(s^2+6*s+24))');
+H=1;
+CH=((s^3+3*s+2)*(s^2+6*s+24)+K)
+disp('=0',CH,"characterstics_eq,CH=")
+c0=coeffs(CH,'s',0);
+c1=coeffs(CH,'s',1);
+c2=coeffs(CH,'s',2);
+c3=coeffs(CH,'s',3);
+c4=coeffs(CH,'s',4);
+b=[c0 c1 c2 c3 c4 ]
+routh=[b([5,3,1]);b([4,2]),0]
+routh=[routh;-det(routh(1:2,1:2))/routh(2,1),routh(1,3),0]
+routh(3,1)=simple(routh(3,1))
+t=routh(2:3,1:2)
+l=simple(-det(t)/t(2,1))
+routh=[routh;l,0,0]
+//routh=[routh;K,0,0]
+disp(routh,"routh=")
+disp("for given system to be stable,following condition should be satisfied");
+disp("78.84-0.259K>0")
+disp("which gives limiting value of K")
+disp("K<288.9");