function f=VertikaldynamikOptimaleDaempfungFCN(t,y)

global M m ca cr ba vf Amp Psi OM

s=vf*t;
u=sum(Amp.*sin(OM*s+Psi));

f=[y(2);
    (ca*(y(3)-y(1))+ba*(y(4)-y(2)))/M;
    y(4);
    (ca*(y(1)-y(3))+ba*(y(2)-y(4))+cr(u-y(3)))/m];