%model
m1 = 70;
m2 = 40;
m3 = 50;
m4 = 40;
k1 = 3*10^6;
k2 = 1*10^6;
k3 = 2*10^6;
k4 = 1*10^6;
k5 = 0.5*10^6;
h1 = 300;
h2 = 100;
h3 = 200;
h4 = 100;
h5 = 50;

M=[m1,0,0,0;
   0,m2,0,0;
   0,0,m3,0;
   0,0,0,m4];

H=[h1+h2+h4,-h2,0,-h4;
   -h2,h2+h3,-h3,0;
   0,-h3,h3+h5,-h5;
   -h4,0,-h5,h4+h5];

K=[k1+k2+k4,-k2,0,-k4;
   -k2,k2+k3,-k3,0;
   0,-k3,k3+k5,-k5;
   -k4,0,-k5,k4+k5];

A=[zeros(4,4),eye(4,4);
    -(M^-1)*K,-(M^-1)*H];

B=[zeros(4,4); M^-1];
C=eye(8,8);
D=zeros(8,4);

kp=200000; %dla x4 i v4 dla 7 sekund
%kp=10000000; %dla %x1 i v1  dla 1 sekundy
kv=2*sqrt(kp);