The lateral control of a rocket with a gimbaled engine is shown in Figure P2.41. The lateral deviation from the desired trajectory is h and the forward rocket speed is V. The control torque of the engine is Tc and the disturbance torque is Td. Derive the describing equations of a linear model of the system, and draw the block diagram with the appropriate transfer functions.

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Desired trajectory Actual trajectory Engine FIGURE P2.41 Rocket with gimbaled engine.