Specifications

connect
16-39
-13.5009 18.0745];
D = [-.5476 -.1410
-.6459 .2958 ];
Define the three blocks as individual LTI models.
sys1 = tf(10,[1 5],'inputname','uc')
sys2 = ss(A,B,C,D,'inputname',{'u1' 'u2'},...
'outputname',{'y1' 'y2'})
sys3 = zpk(-1,-2,2)
Next append these blocks to form the unconnected model sys.
sys = append(sys1,sys2,sys3)
This produces the block-diagonal model
sys
a =
x1 x2 x3 x4
x1 -5 0 0 0
x2 0 -9.0201 17.779 0
x3 0 -1.6943 3.2138 0
x4 0 0 0 -2
b =
uc u1 u2 ?
x1 4 0 0 0
x2 0 -0.5112 0.5362 0
x3 0 -0.002 -1.847 0
x4 0 0 0 1.4142
c =
x1 x2 x3 x4
? 2.5 0 0 0
y1 0 -3.2897 2.4544 0
y2 0 -13.501 18.075 0
? 0 0 0 -1.4142