J = 2;
k = 2;
J_left = J; J_mid = J; J_right = J;
k_wall = k; k_left = k; k_right = k;
mass = diag([J_left J_mid J_right]);
stif = [(k_wall+k_left) -k_left 0;
-k_left (k_left+k_right) -k_right;
0 -k_right (k_right+k_wall)];
diss = zeros(3,3);
t7=0:1:30;
inp_2nd = [0;5*sin.(sqrt(2*k/J).*t7);0];
AA = [zeros(3,3) eye(3); -inv(mass)*stif -inv(mass)*diss];
BB = [zeros(3,1);(mass)\inp_2nd];
p_left = [1 0 0 0 0 0];
p_mid = [0 1 0 0 0 0];
p_right= [0 0 1 0 0 0];
CC = [p_left;p_mid;p_right];
DD = zeros(3,1);
ini_c = [1 0 -1 0 0 0]
tFinal = 30;
hw3 = ss(AA,BB,CC,DD);
[y,t] = initial(twoa,conditionc,tfinal);
subplot(3,1,1)
plot(t,y(:,1))
title('response to initial conditions c')
ylabel('Left (radians)')
subplot(3,1,2)
plot(t,y(:,2))
xlim([0 10])
ylabel('Mid (radians)')
subplot(3,1,3)
plot(t,y(:,3))
xlim([0 10])
ylabel('Right (radians)')
xlabel('time (seconds)')
