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Where 

Mathinline
bodyA
, 
Mathinline
bodyB
, 
Mathinline
bodyC
, and 
Mathinline
bodyD
 are matrices.

Example: 

Say we have a system that can be described with

Mathinline
body\ddot{\theta} = k\dot{\theta} + n\theta + u(t)

and

Mathinline
bodyy(t) = \theta