The characteristic equation for a simple automobile-trailer combination is analyzed, revealing the parameter groups which are important in determining the stability characteristics. Application of Routh's method results in separate criteria for oscillatory and non-oscillatory criteria which can be evaluated algebraically, and which can also be displayed graphically showing a region of stability on a two-dimensional plot. The stability region is bounded by limits of oscillatory and non-oscillatory stability, and the evaluation of a specific case corresponds to the location of a point relative to the boundaries.
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E. C. Mikulcik (1980) studied this question.