ng2003 16.61AC2-3 Write out in state space form X -g cos eo wy! [M+Zur]Iwy IM+ Zur wy! [Mg+(Zg+mUo)r| mg sin or 1 M To figure out the c vector, we have to say a little more about how the control inputs are applied to the systemSpring 2003 16.61 AC 2–3 • Write out in state space form: A =                       Xu m Xw m 0 −g cos Θ0 Zu m−Zw˙ Zw m−Zw˙ Zq+mU0 m−Zw˙ −mg sin Θ0 m−Zw˙ I−1 yy [Mu + ZuΓ] I−1 yy [Mw + ZwΓ] I−1 yy [Mq + (Zq + mU0)Γ] −I−1 yy mg sin ΘΓ 0 0 1 0                       Γ = Mw˙ m − Zw˙ • To figure out the c vector, we have to say a little more about how the control inputs are applied to the system