KA = [-0.0204 0.0898 -1.1977 0.0178 -0.0834; ...
      0.0299 -0.2042 2.0407 0.4695 -0.8313; ...
      -0.3410 1.5291 -19.8216 0.0360 -0.0628; ...
      0.4771 1.2183 0.0969 -19.9707 -0.0531; ...
      0.1436 -0.4167 -0.0517 -0.0098 -19.9831];

KB = [0.0053 -0.0162 -0.0250; ...
      0.0458 0.0794 -0.0411; ...
      0.0230 -0.9959 -0.0370; ...
      -0.4720 -0.0392 0.8783; ...
      0.8801 0.001 0.4743];

KC = [0 0 25.7 -592.1 2351.9; ...
      0 0 -197.3 -77.4 297.5; ...
      0 0 -0.2 193.8 7306.5];

KD = [-121.3929 0 -26.6305; ...
      -14.5671 0 -3.2056; ...
      -322.1833 0 -180.7996];

