‫Welcome back, sir, to achieve the state space form here, that's super easy.
‫You have this equation here, right?
‫You take this correction factor here and you put it on the other side of the equation sine and that's
‫what you get.
‫And now you just take the inverse of this mass and mass movement of inertia matrix.
‫This is the inverse here in red.
‫And you apply it.
‫To both sides of the equation sign so that here will give you a six by six identity matrix, which is
‫one in the Matrix world, so actually you don't have to write it down.
‫And that's the equation that you're left with.
‫And here you go.
‫This is a very compact form for your state's basic equations.