state space modeling of a system

I have a system with two equations :

dx1/dt = k -u*x1-l1*x1 and dx2/dt = u*x1-l2*x2

here, x1 and x2 are states and u is the input. k is rate which is a constant but my interest of output is x2 only. Assuming u as constant i belive it makes the system time invariant

I want to convert the given system in state space form so that I can design a controller.

How can I convert the given differential system to state space form in matlab?

Answer 1

[Ameer Hamza]

The answer here: https://math.stackexchange.com/questions/2559130/state-space-model-with-constant-offset-for-harmonic-balance describe how to convert such systems to state-space form. It shows two different method, 1) coordinate transformation 2) Adding one additional constant state.