Hello. I have some trouble solving this exercise. For this given linear system: with the input Tm(T) described by these equations or re-written this way It's also suggested that the states should be considered this way resulting I have to find out the state-space model (A,B,C,D matrix). How do i find the output (y) equation ? y is supposed to be a 2x1 matrix, with both theta L and theta M as outputs. I tried solving this by calculating the transfer matrix of the system, but it seems that the denominator has 4 poles, but the number of states is 3. How should the size of A be? The thing that bugs me is that the first state (x1) is a difference between those two variables i don't know. For the other exercises, the output was usually one of the states, so i was easy finding out its equation.