A pendulum is shown below, where L is the length of the bar (the mass is neglectable] and 8 is the angular position. Dynamic model of this pendulum [consider it as an inverted singie- link manipulator robot} is given by Q + %sin(8)=0 .. where 9 is the angle, the length of the single-link (L) and the mass of ? the ball (m) are given as 1 unit, and gravitational acceleration, g: 9.8 unit. m Find a linearized version of this equation around nominal point 6\". Find a linear state :16 equation )l' = Ax, where X is a 2-dimensional state vector, i.e. x1: 8 am;I X2: 3