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Derive the state-space model (state equation and output equation) in vector form for the following system. The system outputs are the tensions in each

Derive the state-space model (state equation and output equation) in vector form for the following system. The system outputs

Derive the state-space model (state equation and output equation) in vector form for the following system. The system outputs are the tensions in each side of the pulley's rope. Assume that the connections between the springs and ropes are massless and that the ropes are inextensible. M(t) I,R k1 k2 m2

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