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+//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.7
+
+clc;
+clear; 
+s=poly(0,'s')
+a=(s^5)+(4*s^4)+(8*s^3)+(8*s^2)+(7*s)+4
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+ap=s^2+1
+r=roots(ap)
+disp(r,'the roots are')
+disp ('the roots of auxillary equation are in imagianry axis so the system is marginally stable')
+disp('three roots lie in left half of s plane')