function y = pendelks_ohneF_f(t,x)

g = 9.81;
k = 0.0;

y = zeros(4,1);

A = [0, 1, 0, 0
     g, 0, 0, 0
     0, 0, 0, 1
     0, 0, 0, 0];

B = [0; 1; 0; 1];

F = [-g-1/g-6, -4/g-4, 1/g, 4/g];

y = (A+B*F)*x;
