Consider the mathematical model of the system given by (ML+ mr) +2mrro (mr + ML) g cos 0 = T mi mb2r+mg(1 sin 0) = 0 where 8 and r are angular position of rod and position of mass m respectively. a) Find the state-space model of the system if 0 = x, 8 = x = x, r = X3, b) Linearize this nonlinear system by using Taylor series expansion. = X 3 = X4