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SOLVED: Texts: use MATLAB codeUse MATLAB/Simulink to demonstrate the control algorithm.(A) Construct a subsystem block for the robotic manipulator in Simulink with the following parameters: m1 = 1, m2 = 0.6, l1 = 1, l2 = 0.8, J1 = J2 = 0.005, and g = 9.8.You have to rewrite the equation (1) as:1 = M*q1*u1 - D*q1*g - w*q1i.e.,[a] - [M][q1][u1] - [D][q1][g] - [w][q1]where [a] = [M][M][q1] and [D] = [D][D].(B) Construct a subsystem block for the controller in Simulink for equation (5).Assume the ro
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