A = [ 2.1603    1.8570   -0.3486   -0.3893    0.5670;
      1.3572    0.4940    1.3011   -0.2000    0.9926;
     -2.4329   -3.3890   -2.2748    1.8984   -1.1757;
      6.0565    3.4564   -0.9934   -0.5210    1.3165;
     -3.8054   -1.4909    0.0381   -0.6241   -1.7585];
B = [ 0.1000         0         0
     -0.1000    1.0000    0.2000
           0         0         0
           0   -0.5000   -0.5000
     -0.2000         0    0.5000];
xinit = ones(5,1);
T = 5;