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syms s K
G=(10+s)*K/(s^2*(s^2+2*s+10))
H=1
Ka=limit(s^2*G*H,s,0)
disp(Ka, " Ka = ")
Ess=0.1 //given
K=1/Ess //A=1
disp(K,"K=")
s=%s
F=s^4+2*s^3+10*s^2+10*s+100
disp(routh_t(F))
r=coeff(F)
routh=routh_t(F)
n=length(r)
c=0;
for i=1:n
if (routh(i,1)<0)
c=c+1;
end
end
if(c>=1)
printf("system is unstable")
else printf("there are no roots on RHS")
end
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