Consider the following mathematical model of a physical system y + (M? + sin(/))y" + (log10(m) + k) + JBy = y* + cos(a) u? Parameter Values M = 2.J =,m = 100, kr = 3.6 = 36,y = 5, a = n Task 1 Linearize the given system after substituting the appropriate parameter values (use u' = B). Write down the corresponding linearized system for each equilibrium point. Convert the linearized system(s) into transfer function I need step by step hand written solution with proper explanation.