\begin{align}
    \begin{split}
        F^{CT}(\theta) &= \begin{bmatrix}
                         1  &  \frac{\sin(\theta T_{0})}{\theta} & 0 & -\frac{1 - \cos(\theta T_{0})}{\theta} \\
                         0  &  \cos(\theta T_{0})  &  0  & -\sin(\theta T_{0})  \\
                         0  & \frac{1-\cos(\theta T_{0})}{\theta}  & 1  &  \frac{\sin(\theta T_{0})}{\theta}  \\
                         0  & \sin(\theta T_{0})  &  0  &  \cos(\theta T_{0}) \\
                         \end{bmatrix}  \\
        G^{CT} &= \begin{bmatrix}
                 \frac{T_{0}^{2}}{2}  & 0 \\
                 T_{0}  & 0 \\
                 0  &  \frac{T_{0}^{2}}{2} \\
                 0  &  T_{0}^{2} \\
                 \end{bmatrix}.
    \end{split}
\end{align}     
