How to find equilibrium points of a non linear system

syms x1p x2p x3p x4p x5p x6p % dx/dt
syms eps eps_p theta theta_p phi phi_p %state x
syms Vf Vb %output x

x1p=eps_p;  
x2p=p1*cos(eps)+p2*sin(eps)+p3*eps_p+Vf*p4*cos(theta)+Vb*p4*cos(theta);
x3p=theta_p;
x4p=p5*cos(theta)+p6*sin(theta)+p7*theta_p+p8*Vf-p8*Vb;
x5p=phi_p;
x6p=p9*phi_p+Vf*p10*sin(theta)+Vb*sin(theta);

how can I find the point of equilibrium of this non linear system in order to linearize the system?