>> A= [0 1 ; -0.5 -1.97]

A =

         0    1.0000
   -0.5000   -1.9700

>> B=[0;1]

B =

     0
     1

>> C=[0.033 0.25]

C =

    0.0330    0.2500

>> t=0.03

t =

    0.0300

>> q=0

q =

     0

>> Ad=exp(A*t*(1+q))

Ad =

    1.0000    1.0305
    0.9851    0.9426

>> eye(3)

ans =

     1     0     0
     0     1     0
     0     0     1

>> Bd=A^(-1)*(exp(A*t*(1+q))-eye(2))*B

Bd =

   -3.9452
    1.0305

>> Aq=exp(A*t)*A*t

Aq =

   -0.0155   -0.0309
   -0.0141   -0.0262

>> Bq=A^(-1)*Aq*B

Bq =

    0.1741
   -0.0309

>>