where the n-vector x(t) is the state vector at time t, the m-vector u(t) is the input vector at
time t, and the p-vector y(t) is the output vector at time t. The n£n matrix A is sometimes
called the system matrix. The matrices B, C, and D have dimensions n £ m, p £ n, and
p £ m, respectively. In scalar terms, this system is described by: