Consider the following nonlinear system, known as the nonholonomic interator: 1 = -21 + 1 22 = -22 + U2 = x2u1 - 2112 y = x + x3 + x3 (i) Linearize the system around the equilibrium point r = 12 = 23 = 0. Is this linearized system controllable? (ii) Linearize the system around the equilibrium point x1 = 12 = 13 = 1. Is this linearized system controllable? Consider the following nonlinear system, known as the nonholonomic interator: 1 = -21 + 1 22 = -22 + U2 = x2u1 - 2112 y = x + x3 + x3 (i) Linearize the system around the equilibrium point r = 12 = 23 = 0. Is this linearized system controllable? (ii) Linearize the system around the equilibrium point x1 = 12 = 13 = 1. Is this linearized system controllable