$[20$ pts$.]$ Consider the eye movement system and its model given by:

ubrace$(J({}^{})()ubrace{)}_{\text{i}\text{n}\text{e}\text{r}\text{t}\text{i}\text{a}\text{l}\text{f}\text{o}\text{r}\text{c}\text{e}\text{s}}+$ubrace$(B({}^{})(t)ubrace{)}_{\text{v}\text{i}\text{s}\text{c}\text{o}\text{u}\text{s}\text{f}\text{o}\text{r}\text{c}\text{e}\text{s}}+$ubrace$(K(l)ubrace{)}_{\text{e}\text{l}\text{a}\text{s}\text{t}\text{i}\text{c}\text{f}\text{o}\text{r}\text{c}\text{e}\text{s}}=M_1{r}_1(l)+M_2{r}_2(l)$

Where $J,B$ and $K$ are the moment of inertia, the viscous coefficient, and the stiffness coefficient of the system, respectively. The term on the right$-$hand side represents the torque generated by the muscles. Let the output of the system be the gaze angle $$ and let the input to the system be the firing rates $r_1$ and $r_2$ of the motor neurons that drive the two muscles.

$($a$)[2$ pts$.]$ What is the order of this system?

$($b$)[14$ pts$.]$ Write down the state$-$space equations.

$($c$)[4$ pts$.]$ Is this a SISO or a MIMO system?

movement svstem.