Controle de Pêndulos Acoplados

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Problem 7.28PP
Two pendulums, coupled by a spring, are to be controlled by two equal and opposite forces u. 
which are applied to the pendulum bobs as shown In Fig. The equations of motion are 
H^9i = -k^(6i - 9 i ) - mgl9\ - III,
= —kâ {92 — 0i) — mgl92 + Ih 01 0, 
0
e j
1 0 0 ■ 0 ■
0 0 -1
0 0
ml^
0 1
x + ml
0
Kâ
0 - (K