The roots of polynomial $ p(s) $ are:
$$ \begin{aligned}s_1 &= -0.6009+0.7521i\\[1 em]s_2 &= -0.6009-0.7521i\\[1 em]s_3 &= 0.1009+2.075i\\[1 em]s_4 &= 0.1009-2.075i \end{aligned} $$Polynomial $ s^4+s^3+5s^2+5s+4 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.