Question: Assume that the input-output (input u and output y) relation for a mechatronic system has been represented by the following nonlinear equation: + (1+ 9)

Assume that the input-output (input u and output y) relation for a mechatronic system has been represented by the following nonlinear equation: + (1+ 9) j 2y +0.5g* =u (a) Obtain a state-space model for this nonlinear system by taking the state variables as ] = y and 2 = . Now for your nonlinear state space model assuming that input = 9, calculate the equilibrium points. Hint: Equilibrium points occur at i = 9 and z = 9. [25pts] (b) Linearize this monlinear state space model around these equilibrium points and find linearizeu and B matrices. 25pts]

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