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+//Example 5.3
+//page 319
+//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=%s;
+P=s^6+4*s^5+3*s^4 + 2* s^3 +s^2 +4*s +4;
+//routh array
+disp('Routh Array')
+r=routh_t(P)
+disp(r)
+[r,num]=routh_t(1/P,20)
+if num==0
+   disp("As all elements of first row are positive system is stable")
+else
+   mprintf("There are %g sign changes in entries of first column.\nTherefore, system is unstable.", num)
+end