This paper introduces algorithms to be used for finding the Cauchy index of a transfer function and for solving the Diophantine equation. The algorithms are similar to the Routh-Hurwitz array in structure and are simple to implement. The first algorithm also provides a simple check for the presence of almost common factors between two polynomials, and so is useful as a computationally inexpensive alternative to the sylvester determinant. It also finds the almost common factor, and so is potentially useful as an alternative to  in implementing self-tuning regulators for nonminimum-phase systems .
1986 25th IEEE Conference on Decision and Control
Adaptive control, Linear systems, Polynomials, Programmable control
Abdallah, Chaouki T.; F. L. Lewis; and B. L. Stevens. "A Routh-like algorithm in system identification and adaptive control." 1986 25th IEEE Conference on Decision and Control (1986): 117-120. doi:10.1109/CDC.1986.267167.