how to extract a transfer function or state space model from a Simulink model

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I have built a Simulink model for an inverted pendulum and is attached here. I would like to check the settling time using the stepinfo command on my model. So I wonder if there's a way to extract a transfer function OR state space model from the plant without using system identification tool box?

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Paul
Paul on 30 Oct 2021
Check out
doc linearize

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