can you help me draw a model for this in simulink? The Problem

A mobile robot $($equipped with wheels$)$ is pushing a shopping trolley in order to arrive to the

house of its human the owner. The robot travels along in one dimension $x$ and pushes the trolley

towards the same dimension.

The robot applies a force $F_R$ to the shopping trolley to make it to move ahead. It is assumed

that due to the mechanics of the robot and the trolley, the connection of the hand of the robot

and the trolley acts as a spring with stiffness $z.$ The mass of the robot is $m_R$ and the mass of

the shopping trolley is $m_{tr}.$ The rolling friction coefficient is $.$

The application of the second law of Newton derives the following equations for the dynamic

system, describing the motion of the robot pushing the shopping trolley:

$F_R-z(x_R-x_{tr})=m_R*x_R^{}+*m_R*g*x_R^{}$

$z*(x_R-x_{tr})=m_{tr}*x_{tr}^{}+*m_{tr}*g*x_{tr}^{}$

where $-$ denotes multiplication. $x_R$ is the displacement of the robot and $x_{tr}$ is the displacement

of the shopping trolley. $g=9\mathrm{.}81\frac{m}{s^2}$ is the gravity. For the purposes of the simulation of the

system here, use $F_R=2,=0\mathrm{.}05,z=1,m_R=2,m_{tr}=1.$