pkg load symbolic
syms x1 x2 x3 x4 x5 x6

k1 = 30;
k2 = 50;
k3 = 70;
m1 = 5;
m2 = 20;
m3 = 40;
b1 = 17.14;
b2 = 57.83;
b3 = 116.42;

dx1 = x2
dx2 = - b1*(x2 - x4)/m1 - k1*(x1 - x3)/m1
dx3 = x4
dx4 = b1*(x2 - x4)/m2 + k1*(x1 - x3)/m2 - k2*x3/m2 - b2*x4/m2
dx5 = x6
dx6 = b2*(x4 - x6)/m3 + k2*(x3 - x5)/m3 - k3*x5/m3 - b3*x6/m3

# State space matrix - A
A = [0 1 0 0 0 0 ; -6 -857/250 6 857/250 0 0; 0 0 0 1 0 0; 3/2 857/1000 -4 -7497/2000 0 0; 0 0 0 0 0 1; 0 05/4 5783/4000 -3 -697/160]

# Eigenvalues
e = eig(A)

# I want the same eigenvalues for all position so alla position are equal in overshoot.