Question: 3 Consider a two-link dynamical system as illustrated below. 1 2 l1 lc1 g lc2 g x y center of mass m1 center of mass

3 Consider a two-link dynamical system as illustrated below. 1 2 l1 lc1 g lc2 g x y center of mass m1 center of mass m2 links revolute joints input torque u(t) gravity direction origin coincident w. base joint Figure 3: A two-link dynamical system The dynamical system can be described using the following equation: M11 M12 M21 M22 : 1 : 2 C11 C12 C21 C22 91 92 g1 g2 0 1 uptq (15) M11 I1 I2 m1 lc1 2 m2 l1 2 2 lc2 l1 cosp 2q lc2 2 (16) M12 M21 m2 lc2 l1 cosp 2q lc2 2 I2 (17) M22 I2 m2 lc2 2 (18) h m2 lc2 l1 sinp 2q (19) C11 h 92 (20) C12 h p 91 92q (21) C21 h 91 (22) C22 0 (23) 5 of 7 Intro. Modern Ctrl. Eng. ME 621 L. Wang g1 m1 g lc1 sinp 1q m2 g l1 sinp 1q lc2 sinp 1 2q (24) g2 m2 g lc2 sinp 1 2q (25) Please carefully review the given tips and model assumptions below: A Matlab script has been produced for you to conveniently access the symbolic expressions for matrices M, C and g

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