Project 1a: Systems Control I) Model - Inverted. Pendulum (Fig. 1) II) Controller Inverted Pendulum, (Fig.2) K K x dx at 24 K2 K3 Ku F Be Bp m2, 12 M1 P=Kmm x PENDULUM Streaming Streaming traf And the MOTOR DC III) Objectives a) Obtain the dynamic model of the system - Inverted Pendulum [1]; M1 [Kg] 2.5 m2 [kg] 0.75 12 [m] 0.85 b) ( In a MATLAB environment, simulate the Inverted Pendulum regulator [1] according to the Control strategy represented in Fig.2. Consider that in the prototype, to be developed in the future, you have access to variables and (encoders coupled to the shafts) and consider the control action Ea (DC motor armature voltage - [2]). Consider as input the disturbance, B, (torque applied to the pendulum rod). Comment, in the conclusions of the work, on the simulation results obtained.