% matrice F a tempo continuo per N = 5 camere
F_1i = [0 1 0 0 0 0 0 0];
F_2i = [(-(1/m)*(1/vmax(1)+1/vmax(2))) (-ni(1)) (1/(m*vmax(2))) 0 0 0 0 0];
F_3i = [0 0 0 1 0 0 0 0];
F_4i = [(1/(m*vmax(2))) 0 (-(1/m)*(1/vmax(2)+1/vmax(3))) ...
    (-ni(2)) (1/(m*vmax(3))) 0 0 0];
F_5i = [0 0 0 0 0 1 0 0];
F_6i = [0 0 (1/(m*vmax(3))) 0 (-(1/m)*(1/vmax(3)+1/vmax(4)))...
    (-ni(3)) (1/(m*vmax(4))) 0];
F_7i = [0 0 0 0 0 0 0 1];
F_8i = [0 0 0 0 (1/(m*vmax(4)))  0 (-(1/m)*(1/vmax(4)+1/vmax(5))) (-ni(4))];  


F = [F_1i; F_2i; F_3i; F_4i; F_5i; F_6i; F_7i; F_8i];
eig(F)
Lambda_max = max(eig(F))
t_ass = log(0.01)/Lambda_max
