“…According to the Routh-Hurwitz stability criterion, system (12) is asymptotically stable if and only if all the coefficients of the characteristic polynomial (15), namely a i i = 0, …, 4 , and the first column of the Routh table (16), namely b 1 , c 1 , d 1 and e 1 , are greater than zero. Since all a i i = 0, …, 4 , b 1 , c 1 , d 1 and e 1 are functions of K a and K c , a system stability region can be determined in the K c − K a plane.…”