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G = [0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0; 0 0 0

2.319 -0.957 -1.362 0 0 0; 0 0 0 -0.957 2.144 0 -1.187 0 0; 0 0 0 -


1.362 0 2.644 0 0 -1.282; 0 0 0 0 -1.187 0 2.803 -1.616 0; 0 0 0 0 0 0
-1.616 2.424 -0.808; 0 0 0 0 0 -1.282 0 -0.808 2.09]

B = [-34.72 0 0 34.72 0 0 0 0 0; 0 -23.98 0 0 0 0 23.98 0 0; 0 0 -


20.49 0 0 0 0 0 20.49; 34.72 0 0 -50.042 8.124 7.365 0 0 0; 0 0 0
8.124 -13.856 0 5.973 0 0; 0 0 0 7.365 0 -12.996 0 0 5.889; 0 23.98 0
0 5.973 0 -54.1605 13.695 0; 0 0 0 0 0 0 13.695 -20.364 6.848; 0 0
20.49 0 0 5.889 0 6.848 -32.9435]

theta2 = 0

theta3 = 0

theta4 = 0

theta5 = 0

theta6 = 0

theta7 = 0

theta8 = 0

theta9 = 0

v4 = 1

v5 = 1

v6 = 1

v7 = 1

v8 = 1

v9 = 1

v1 = 1.09

v2 = 1.025

v3 = 1.025

theta1 = 0
m=1

P2 = 0

P3 = 0

P4 = 0

P5 = 0

P6 = 0

P7 = 0

P8 = 0

P9 = 0

Q4 = 0

Q5 = 0

Q6 = 0

Q7 = 0

Q8 = 0

Q9 = 0

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