Closed Loop MIMO System with Interaction?

I have a 4x4 system

[G11(s) G12(s); G21(s) G22(s)]

I have to design a controller

K(s) = [K1(s) 0; 0 K2(s)]

The system ha interacting states like as in figure below:

I have to code the closed loop transfer functions with interacting states in Matlab (not Simulink).

How can i do that in Coding (The structure of controllers are pre-specified)

Answer 1

[Arkadiy Turevskiy]

Take a look at this example , and this doc page , it should help.