how to use ode45 to solve a 6 order mimo system i have a equation xdot=Ax+f(x,u)+taud where A is 6*6 matrix f(x,u) is nonlinear 6*1 matrics taud is also 6*1 matrix

i1=0.0068;i2=0.02;a1=.0135;b1=0.0924;a2=0.02;b2=0.09;mg=0.32;b1si=0.006; % b1phi=0.1;kgy=0.05;k1=1.1;k2=y1d;y2d=1.1;T10=1;T21=1;u1=1;u2=1;T11=1; % Tp=2;T0=3.5;kc=-0.2; T20=1;

taud=sin(0.5*t)*[0.1 0.1 0.1 0.1 0.1 0.1]';

A=[0 1 0 0 0 0;0 0.8824 0 0 13.59 0;0 0 0 1 0 0;0 0 0 5 -1.617 4.5;0 0 0 0 -1 0;0 0 0 0 0 -1];

xdot=A*x+f(x,u)+taud;

f=[0;a1*x5.*x5/i1-mg*sin(x1)/i1+0.0326*sin(2*x1)*x4.*x4/2*i1-kgy*cos(x1)*x4*(a1*x5*x5+b1*x5)/i1;0;a2*x6*x6/i2-1.75*kc*a1*x5*x5/i2;k1/T11;k2/T21]; * | how to solve using ode45 in m file? | *