1. An approximate transfer function for the hanging crane shown schematically in the figure below can be obtained as follows: -mpl U(s) {(I+mpl2) (m + mp) - ml}s + mpgl(me+mp) where denotes the distance from the pivot to the mass center of the pendulum. My 1.mp Let the angular position and velocity for the hanging crane be the state elements as a = [] = [06]. The force being applied to the trolley is taken as the input u, and the output is chosen as 0(= [1 0]x). Based on the these information, determine the state-space equations for the motion of a hanging crane system.