 k = 2;
    A = [0 1 0 0 0 0;
        -k 0 k 0 0 0;
        0 0 0 1 0 0;
        k 0 -2*k 0 k 0;
        0 0 0 0 0 1;
        0 0 k 0 -k 0];
    B = [0 1 0 0 0 0]';
    
    Q = eye(6);
    R = 1;
    