Consider the \(R L\) network shown in the figure. Assume that the loop currents
\(I_{1}\) and \(I_{2}\) are zero until a voltage source \(V_{S}(t)\), having the
polarity shown, is turned on at time \(t=0 .\) Applying Kirchhoff's voltage law
to each loop, we obtain the equations
$$
\begin{aligned}
-V_{S}(t)+L_{1} \frac{d I_{1}}{d t}+R_{1} I_{1}+R_{3}\left(I_{1}-I_{2}\right) &=0 \\
R_{3}\left(I_{2}-I_{1}\right)+R_{2} I_{2}+L_{2} \frac{d I_{2}}{d t} &=0
\end{aligned}
$$
(a) Formulate the initial value problem for the loop currents,
\(\left[\begin{array}{l}I_{1}(t) \\ I_{2}(t)\end{array}\right]\), assuming that
$$
L_{1}=L_{2}=0.5 H, \quad R_{1}=R_{2}=1 k \Omega, \quad \text { and } \quad
R_{3}=2 k \Omega .
$$
(b) Determine a fundamental matrix for the associated linear homogeneous
system.
(c) Use the method of variation of parameters to solve the initial value
problem for the case where \(V_{S}(t)=1\) for \(t>0\).