Derive a state space model for the rotary mechanical system of Figure 8.36, which is formed of a…

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Derive a state space model for the rotary mechanical system of Figure 8.36, which is formed of a cylinder with a mass moment of inertia J, a spring of stiffness k, and two dampers defined by the damping coefficients c1 and c2. The input is the rotation angle iu and the output is the cylinder rotation angle.