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+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.5
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^7)+(9*s^6)+(24*s^5)+(24*s^4)+(24*s^3)+(24*s^2)+(23*s)+15
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('there is sign change in first column of routh array so ths system is unstable;')
+ae=s^4+s^2+1
+r=roots(ae)
+disp(r,'the roots of auxilary equation are')
+disp('two roots lie on right half of splane five roots lie on left half of s plane')
+