J = 0.

0099369;
K = 0.016943;
L = 0.4883;
R = 0.73873;
b = 0.055924;
num=[K]; den=[L R]; arm=tf(num,den);
num1=[1]; den1=[J b]; load=tf(num1,den1);
sys=series(arm,load);
sys
num2=[K]; den2=[1]; gain=tf(num2,den2);
system_transfer_function=feedback(sys,num2);
system_transfer_function
impulseplot(system_transfer_function);
pz=pzmap(system_transfer_function);
figure;
pzplot(system_transfer_function);
figure;
rlocus(system_transfer_function);
figure;
bode(system_transfer_function);
syms Kp
G = (Kp*0.01694)/(0.004852*s^2 + 0.03465*s + 0.04131);
cheq = 0.004852*s^2 + 0.03465*s + 0.04131 + Kp*0.01694;
% Routh table first two rows from coefs of char.eq. (from cheq)
RT = [0.004852 0.04131+Kp*0.01694; 0.03465 0]
% the rest of the table
b1 = (RT(2,1)*RT(1,2)-RT(1,1)*RT(2,2))/RT(2,1);
b2 = 0;
% full Routh table
RT = [0.004852 0.04131+Kp*0.01694; 0.03465 0; simplify(b1) b2]
%For system to be stable {(847*Kp)/50000 + 4131/100000} > 0 i.e Kp>0
Range=(Kp>0)