To find the eigenvectors of a matrix A: First find its eigenvalues by solving the equation (with determinant) |A - λI| = 0 for λ. Then substitute each eigenvalue in A v = λ v and solve it for v.
A has complex eigenvalues λ1 = λ and λ2 = ¯λ with corresponding complex eigenvectors W1 = W and W2 = W . The key observationis that if X(t) is a complex solution, split X in its real and
