Robustness of entanglement for two qubit density matrix

By considering the decomposition of a generic two qubit density matrix presented by Wootters [W. K. Wootters, Phys. Rev. Lett. {\bf 80} 2245 (1998)], the robustness of entanglement for any mixed state of two qubit systems is obtained algebraically. It is shown that the robustness of entanglement is proportional to concurrence and in Bell decomposable density matrices it is equal to the concurrence. We also give an analytic expression for two separable states which wipe out all entanglement of these states. Since thus obtained robustness is function of the norm of the vectors in the decomposition we give an explicit parameterization for the decomposition.