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# 5) A 2nd order system is described by liil=l3 illiHum 1 r, O S t amp;lt; 1 Find x (t) if x (0)=0 and u (t) is given by 110') = . Plot both X1 and X2...

Derive the state equations for the tractor-trailer system shown below taking y=x2 as

output and torque T as input. Assume all the wheels roll without slipping. Hint: Note

that the system consists of 3 interconnected rigid bodies requiring 3 separate freebody

diagrams: m1, m2, and the tire (I,mt).