Provide a comprehensive solution, including the procedure for implementation in Simulink. Additionally, if possible, kindly include the save project file name when submitting the answer on Chegg Study. Thank you! : When you run the following MATLAB code, it will open a Simulink model with predefined parameters for the Ball and Beam system: m $=0\mathrm{.}11$;

R $=0\mathrm{.}015$;

d $=0\mathrm{.}03$;

L $=1\mathrm{.}0$;

J $=9\mathrm{.}99$e$-6$; For full details on the project, one can easily access the comprehensive information by simply checking the "Control Tutorial for MATLAB and Simulink: Ball and Beam: Simscape Modeling." The Ball and Beam: Simscape Modeling project involves creating a simulation model in Simulink. Here's a concise summary of the key steps:

Physical Setup:

Nonlinear ball and beam model with gravity$-$induced motion.

Constants and variables defined: mass, radius, lever arm offset, gravitational acceleration, beam length, ball moment of inertia, ball position, beam angle, and servo gear angle.

Design criteria: settling time $<3$s$,$ overshoot $<5\%.$

Create World Frame and Basic Configuration:

Open Simscape Multibody model with predefined blocks.

Configure settings: gravity, solver type, and absolute tolerance.

Assemble the Gear:

Define gear rotation using a Revolute Joint and Rigid Transform blocks.

Add blocks: Revolute Joint, Transfer Fcn$,$ Gain, Step Input.

Create a subsystem named "Gear" to define gear and pins.

Add the Lever:

Introduce a lever connecting the gear and beam.

Define connection points, insert a Brick Solid block, and create a subsystem named "Lever."

Add a Revolute Joint connecting the gear lever to the beam.

Add the Beam:

Define the beam within a subsystem, including connection points and geometry.

Create pins for visual representation.

Connect the beam to a fixed point and measure the beam angle.

Add the Ball:

Introduce a ball constrained to the beam using a Rack and Pinion Constraint block.

Define constraints for rolling without slipping and translation along the beam.

Add a degree of freedom for ball rotation.

Connect the ball to a fixed point in space.

Implementing the Controller:

Convert the physical system into a subsystem.

Add a controller using Gain, Transfer Fcn$,$ and Subtract blocks.

Adjust solver settings for a stiff system.

Save Project File:

A project file is mentioned to be available on Chegg Study, but the specific file name is not provided in the text.

This summary highlights the main steps involved in the Simulink project, providing a concise overview of the essential points.