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+//Example 5.9
+//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=%s;
+P=s*(s^2+s+1)*(s+4);
+k=poly(0,'k')
+//routh array
+disp('Routh Array')
+r=routh_t(1/P,k)
+disp(r)
+disp('Solving for positive values,')
+disp(r($-1,1))
+mprintf('%g >K >0, for stability',kpure(1/P))
+
+
+