{{1, 0, 0, 0, 0, 0}, {0, 1, 0, 0, -gpor, 0}, {0, 0, 1, 0, 0, 0}, 
 {0, 0, 0, 1, 0, 0}, {0, 0, 0, 0, 1, 0}, {0, 0, 0, 0, 0, 1}}
