modelling mechanical system of Position for a Robotic Arm using simulink and matlab

it is required to make Mathematical Modelling & Continuous Time Simulation for robot arm positioning system using State Space Model Derivation , Matlab Model Function, Numerical Integration Solver & Step-Size Selection , Simulation Responses and Analysis, then Validation Using Simulink Responses and Analysis and Gc Control Gain Variation Results & Analysis and Integration Implementation in Control System in Matlab Code KI Control Gain Variation Results & Analysis