K6

3l

w1

w2

w3

w4

3 l 2 l2 K3 l

l2

6
2 EJ
ki := 3
l

K6 K3 l
3l

rd

3l

q1 :=

K3 l

K3 l 2 l2

q2 :=

w3

q3 :=

w4

w1

w1

w2

w2

w1

w3

3
w4

q1 := 1$ r

w2
2

1 0 0 0 0 0 0 0 0 0
=

0 1 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0

w3
$

3
w4

w5

w5

1 0 0 0 0 0 0 0 0 0
1 :=

w2

0 1 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0

0 0 1 0 0 0 0 0 0 0
2 :=

0 0 0 1 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0

q4 :=

w5
5

0 0 0 0 1 0 0 0 0 0
3 :=

0 0 0 0 0 0 1 0 0 0

0 0 0 0 0 1 0 0 0 0

4 :=

0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 1 0 0

0 0 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0 0 1

Kp := Kp1 CKp2 CKp3 CKp4

T

Kp := i ki i
i

1 0 0 0
0 1 0 0
0 0 1 0

2 EJ
Kp1 d 3
l

0 0 0 1

K6

3l

0 0 0 0

3 l 2 l2 K3 l

l2

0 0 0 0

0 0 0 0

3l

K6 K3 l
3l

K3 l

K3 l 2 l2

0 0 0 0
0 0 0 0
0 0 0 0
6

3l

K6

3 l 2 l2 K3 l
K6 K3 l

2 EJ
$
3
l

3l 0 0 0 0 0 0
l2

0 0 0 0 0 0

K3 l 0 0 0 0 0 0

K3 l 2 l2 0 0 0 0 0 0

3l

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

0 0 0 0 0 0

1 0 0 0 0 0 0 0 0 0
$

0 1 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0

Analogicznie :
0 0

0 0 0 0

0 0

0 0 0 0

0 0

3l

K6

0 0 3 l 2 l2 K3 l
Kp2 d

Kp3 d

Kp4 d

2 EJ
l3

2 EJ
l3

2 EJ
l3

0 0 K6 K3 l

3l 0 0 0 0
l2

0 0 0 0

K3 l 0 0 0 0

0 0 3l

l2

K3 l 2 l2 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 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

3l

K6

3l 0 0

0 0 0 0 3l 2l

K3 l

l2

0 0 0 0 K6 K3 l

0 0

K3 l 0 0

0 0 0 0 3l

l2

K3 l 2 l2 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 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

3l

K6

3l

0 0 0 0 0 0 3 l 2 l2 K3 l

l2

0 0 0 0 0 0 K6 K3 l
0 0 0 0 0 0 3l

l2

K3 l

K3 l 2 l2

K6

3l

3 l 2 l2 K3 l

l2

K6 K3 l 12

K6

3l

4 l2 K3 l

l2

K6

3l

4 l2 K3 l

l2

K6

3l

4 l2 K3 l

l2

Kp d

2 EJ
l3

3l

3l

l2

K6 K3 l 12

3l

l2

K6 K3 l 12

3l

l2

K6 K3 l

3l

l2

K6

3l

4 l2 K3 l

l2

K6

3l

4 l2 K3 l

l2

K6

3l

4 l2 K3 l

l2

K3 l

K3 l 2 l2

r d G$x
0
0

0 0 0 0 0 0 0 0

w2

w2

0 0 0 0 0 0 0 0

1 0 0 0 0 0 0 0

w3
3

w3

0 1 0 0 0 0 0 0
=

0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0

w4

0 0 0 0 1 0 0 0

0 0 0 0 0 1 0 0

w5

3
w4
4

0 0 0 0 0 0 1 0

w5

0 0 0 0 0 0 0 1

5
12
0

K6 K3 l 12
3l
2 EJ
K d G $Kp$G = 3 $
0
l
T

K6 K3 l 12

3l

K6 K3 l

3l

l2

K3 l

K3 l 2 l2

KK1 d

1 l3
3 EJ

1 l2
2 EJ

5 l3
6 EJ

1 l2
2 EJ

4 l3
3 EJ

1 l2
2 EJ

11 l3
6 EJ

1 l2
2 EJ

1 l2
2 EJ

l
EJ

3 l2
2 EJ

l
EJ

5 l2
2 EJ

l
EJ

7 l2
2 EJ

l
EJ

5 l3
6 EJ

3 l2
2 EJ

8 l3
3 EJ

2 l2
EJ

14 l3
3 EJ

2 l2
EJ

20 l3
3 EJ

2 l2
EJ

1 l2
2 EJ

l
EJ

2 l2
EJ

2l
EJ

4 l2
EJ

2l
EJ

6 l2
EJ

2l
EJ

4 l3
3 EJ

5 l2
2 EJ

14 l3
3 EJ

4 l2
EJ

9 l3
EJ

9 l2
2 EJ

27 l3
2 EJ

9 l2
2 EJ

1 l2
2 EJ

l
EJ

2 l2
EJ

2l
EJ

9 l2
2 EJ

3l
EJ

15 l2
2 EJ

3l
EJ

11 l3
6 EJ

7 l2
2 EJ

20 l3
3 EJ

6 l2
EJ

27 l3
2 EJ

15 l2
2 EJ

64 l3
3 EJ

8 l2
EJ

1 l2
2 EJ

l
EJ

2 l2
EJ

2l
EJ

9 l2
2 EJ

3l
EJ

8 l2
EJ

4l
EJ

27 l4 p
8 EJ
37 l3 p
6 EJ

pl

34 l4 p
3 EJ

0
pl
0
pl

P :=

0
1
pl
2
1
p l2
12

x d KK1$P =

28 l3 p
3 EJ
171 l4 p
8 EJ
21 l3 p
2 EJ
32 l4 p
EJ
32 l3 p
3 EJ

w2 =

27 l4 p
8 EJ

37 l3 p
6 EJ

2 =

171 l4 p
w4 =
8 EJ
2

34 l4 p
3 EJ

w3 =

21 l3 p
4 =
2 EJ

32 l4 p
w5 =
EJ

3 =

28 l3 p
3 EJ

32 l3 p
5 =
3 EJ

N1 := 1 K 2 C 3
N2 := K
C 2
l
l
l
l
2
3
2
3
3
2

N3 := 2 K 3
N4 := K C 2
l
l
l
l

1 l p 95 l K14
wI := N1$w1 CN2$1 CN3$w2 CN4$2 =
24
EJ
1 l p 95 l K21
I:=wI'=
12
EJ
2

wII := N1$w2 CN2$2 CN3$w3 CN4$3 =

3
2
1 l p 81 l C53 l K10 C148 l
24
EJ

2
1 l p 53 l K15 C74 l
II := wII'=
12
EJ
2

3
2
1 l p 272 l C23 l K6 C224 l
wIII := N1$w3 CN2$3 CN3$w4 CN4$4 =
24
EJ
2
2
1 l p 23 l K9 C112 l
III := wIII'=
12
EJ
2

3
2
1 l p 513 l C5 l K2 C252 l
wIV := N1$w4 CN2$4 CN3$w5 CN4$5 =
24
EJ
2
2
1 l p 5 l K3 C126 l
IV := wIV'=
12
EJ