Question: Consider the pendulum system shown in Figure 2.44. The pendulum consists of a rod of length L with evenly distributed mass m and a point

Consider the pendulum system shown in Figure 2.44. The pendulum consists of a rod of length L with evenly distributed mass m and a point mass M at its lower end. The input is the torque (t) and the output is the angular position (t). Assume that there is no friction. a. Derive the state space model of the system. b. Is the system linear? If not, linearize it around the operating point with 0 = 0. c. Compute the transfer function of the linearized model

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