D Consider the inverted pendulum. as shown below:- on a cart setup m g x. x F M The inverted pendulum has a mass in and length I with uniformly distributed mass. The center of gravity of is located at the center of the bar! a) with states x, x, 0, 0, dueive the state-space representation of the system from its diff. equations of motion for small displacement O. 6) From the scalare differential equations, find the transfer functions between F & O and F & x.