I cant find information about mimo systems

Hello, I am looking for informations about mimo system but I couldnt find.

My system has 4 equations.Its MIMO system.How I can transfer this equations (using matlab) to state space form or tf.

[Walter Roberson]

What form are the current equations in ?

[meng fowler]

linear differential equations of motion.Let me give you an example

d^2/dt^2[x(t)]=c1*d/dt[v1(t)]+c2*d/dt[v2(t)]+c3*d/dt[v3(t)]

etc