Hello I have attached the sheet that describes the problem. This is supposed to be simulated in matlab first with no disturbance and then with disturbance. My problem is that I am not sure how to program a lot of this stuff in matlab so that is one thing i need help with and then just putting all the code to work together. I have some parts written, just have to figure out how to combine it all. Please let me know if you are a controls/matlab expert and want to help me, I WILL PAY YOU FOR YOUR TIME, OR IF YOU KNOW SOMEONE WHO CAN HELP.