Consider a simplified model of a rocketβs pitch dynamics represented by an inverted pendulum. The pendulum has length π, mass π and the pivot point is controlled by a torque u. The angle π is measured from the vertical upward direction, with π = 0 representing the upright position (rocket pointing straight up). The equation of motion for the pendulum can be written as: ππ2 π(π‘) = π’(π‘) β πππ sinπ(π‘)