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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 5.9
+
+clc;
+clear; 
+s=poly(0,'s')
+//the close loop tranfer function is K/s*(s+1)*(s+2)+K
+a=(s^3)+(3*s^2)+(2*s)+1//the characterstic equation assuming K=1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the valus of K lies between 0 to6 for the system to be stable')