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+//Example 5.6
+//page 323
+//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^5+3*s^4 + 2* s^3 +6*s^2 +6*s +9;
+//routh array
+
+r=routh_t(P)
+disp(r,"Routh Array")
+[r,num]=routh_t(1/P,20)
+disp("We know, eps tends to zero")
+if num==0
+   disp("System is stable")
+else
+   mprintf("There are %g sign changes in entries of first column.\nTherefore, system is unstable.", num)
+end