Process Control and Instrumentation
Suppose that the gain, time constant and dead time of a process with the following transfer function:Gc(s) = 10 exp( - 0.1s)/(0.5s + 1) are known with a possible error of ± 20% of their values. The largest permissible gain Kc of a proportional controller needs to be calculated below taking the values of process gain, time constant and dead time as

8, 0.6, 0.12
8, 0.6, 0.08
12, 0.4, 0.08
12, 0.6, 0.12

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Process Control and Instrumentation
Routh test

Criterion is not applicable to systems with polynomial characteristic equation
Cannot be used to test the stability of a control system containing transportation lag
Criterion provides information about the actual location of roots
Can not determine as to how many roots of the characteristics equation have positive real roots

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