An inverted pendulum mounted on a motor-driven cart was presented in Problem 30, Chapter 3. Its state space model was linearized (Prasad, 2012) around a stationary point, (x₀ = 0), corresponding to the pendulum point-mass, m, being in the upright position at t = 0. Its model was then modified in Problem 55, Chapter 6, to have two output variables: the pendulum angle relative to the y-axis, θ(t), and the horizontal position of the cart, x(t). Noting that the unit requires stabilization, you were asked in Problem 33, Chapter 9, to develop Simulink models for two feedback systems: one to control the cart position, x(t), and the second to control the pendulum angle, θ(t). Modify the second model, using state-feedback amplifiers with appropriate gains (in addition to the rate feedback amplifier and the PD controller), to improve the unit-impulse response of the angle control loop. Compare the response you get here with that obtained for Problem 33, Chapter 9.