SOLVED: Text: Question 4 (Pendulum on Cart)For the diagram, equations, and data above, write/define the function. Simulate open-loop using Simulink. Simulate the response using initial condition, step input.Linearized DynamicsFor an inverted pendulum on a cart, driven by a d-c motor, the linearized dynamics are:q = -a*q - m*g/M u = L*q M*g/ML - (L*u)The state and output variables are:x1 = q, x2 = 0, x3 = q, z4 = 2, y1 = x1, y2 = x2Numerical values of the parameters are:a = 4, m = 1, L = 0.25
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