69 How to formulate the inverted pendulum problem in state space for one input and 2 outputs?

Problem: Given the inverted pendulum shown below, use state space using one input (the force on the cart) and 2 outputs (the cart horizontal displacment, and the pendulum angle. Plot each output separatly for the same input.

In Mathematica, after obtaining the state space object, use the Subsystem[] function to obtain the system that connects the input to either the displacement $y\left( t\right)$ or to the angular movment $\theta\left( t\right)$. Then use the function OutputResponse[] on each one of these subsystems separatly.