Use the state$-$space equations found in problem $1$:

a$)$ write the state$-$space matrices for these equations.

b$)$ Consider that $J_1=J_2=2,K_1=2,K_2=1,B=0\mathrm{.}5,$ and ${}_2=0.$ Also, initial conditions are ${}_1=$

${}_2=0$ and ${}_2={}_1=1.$

Write a Matlab code $($either method used in the last homework is fine$)$ to find the system

response for $20$ seconds. Submit the Matlab code, and plots of ${}_l$ and ${}_2$ as functions of

time on SEPARATE figures. Correct labeling must be used for the horizontal and vertical

axes.