% Plant Parameters
M = 0.5; % Massa Kereta [kg]
m = 1; % Massa Pendulum [kg]
l = 0.8; % Panjang lengan [m]
g = 9.8; % Percepatan Gravitasi [m/sec2]
A = [0 1 0 0;0 0 -(m*g)/M 0;0 0 0 1;0 0 (M+m)*g/(M*l) 0]
B = [0; 1/M; 0; -1/(M*l)]
lambda = eig(A)