3. Consider an example from biology: we want to model the thigh of the human leg in the plane(you can disregard the inertia of the lower leg). Find the transfer

function G(s) = 0(s)/Tm(s)where Tm is the muscle torque applied at the hip and 0 is the angle of the leg from the hanging down equilibrium position (8 points). You may make the following assumptions: 1. There is linear, viscous damping D at the hip joint 2. You may consider the thigh a cylinder of uniform density with mass m, length L, and inertia J about the hip joint 3. You may linearize the system around the equilibrium point 0 = 0 (hint: use the Taylor series expansion for small angles)

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