The roots of polynomial $ p(s) $ are:
$$ \begin{aligned}s_1 &= -0.4656\\[1 em]s_2 &= 1.2328+0.7926i\\[1 em]s_3 &= 1.2328-0.7926i \end{aligned} $$Polynomial $ s^3-2s^2+s+1 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.