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+//Example 5.10
+//page 327
+//Control Systems: Principles and Design 
+//M Gopal, Second Edition, Tata McGraw-Hill
+//Chapter:Concepts of Stability: Routh Stability Array
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//transfer function
+s=poly(2,'s');
+//substitution of s-2 for s
+    
+P=(1+(5/s))*((s+3)/(s^2+2*s+2));
+k=poly(0,'k')
+//routh array
+r=routh_t(P,k)
+disp(r,"Routh Array")
+kval=kpure(P)
+mprintf('%g <K , is range of gain for closed loop poles to satisfy Re(s)<-2',kval(1))
+