Plot ! takagi Sugeno Fuzzy Model

I am working on takagi sugeno modeling:

after doing fuzzy modeling of inverted pendulum given by non linear continous model:

derivative_x(1)= x(2);
derivative_x(2)= (g .* sin(x(1)) - 0.5.*a.*m.*l.*(x(2)^2).*sin(2*x(1))-    (a.*cos(x(1)).*(K1.*x(1) +K2.*x(2))))/(1.33.*l-a.*m.*l.*(cos(x(1))^2));

I get takigi sugeno odel Like

*dx/dt = ∑ Mi [ Ai x + Bi u];* ------(1)

where i=1,2

and state feedback controller is used to fin '' u '' i-e u = k x

M1= 1-0.667*|x(1)|;
M2= 0.667*|x(1)|;

system and control matrices are given by;

A1=[0 1;17.3 0]; B1=[0;-0.177];
A2=[0 1;9.45 0]; B2=[0;-0.03];
K1 = [- 429.6222 -122.8607] ;
K2 = [- 913.7748 - 284.1638];

i want to plot states across time...I dont undertsand how to plot Takagi sugeon state space model as given by eq (1) . kindly help...!