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+//Example 24.1
+clc
+syms K b z w;
+Gz=K*(1-b)/(z-b)
+//where b=exp(-T/tau)
+//From Eq.(24.4)
+z=w+1/w-1;
+Gz=eval(Gz)
+disp('=0',1+Gz,'1+G(z)=')
+//which is equivalent to
+disp('(K+1)*(1-b)*w+(1+b)-K(1-b)=0')
+routh=[(K+1)*(1-b);(1+b)-K*(1-b)]
+//b is always positive and less than one and K is positive
+//The first element in the array is positive
+//For stability, the Routh test requires that all elements of the first column be positive
+//Therefore,
+disp('>0',routh(2,1))
+disp('K<(1+b)/(1-b)')
+