Spring Double Pendulum

Dynamic Equations

Let all m=1 

Let k=1, g=9.8, l=1

Initially

x1=0,  y1=-1,   x2=0,  y2=-2

Calculated Equilibrium 

x1=0,  y1=-2.060,   x2=0,  y2=-3.140,

Jacobi matrix is

0	0	0	0	1	0	0	0
0	0	0	0	0	1	0	0
0	0	0	0	0	0	1	0
0	0	0	0	0	0	0	1
-1.86	0	0.907	0	0	0	0	0
0	-2	0	1	0	0	0	0
0.907	0	-0.91	0	0	0	0	0
0	1	0	-1	0	0	0	0

Eigenvalues are

-4.27115083e-17+0.61803399j

-4.27115083e-17-0.61803399j

  1.05753171e-16+1.61803399j

1.05753171e-16-1.61803399j

  1.61410528e-16+1.5516723j

1.61410528e-16-1.5516723j

 -1.41036385e-17+0.59881901j

-1.41036385e-17-0.59881901j