This was something I was wondering if you could do and when I searched there was one guy who apparently has worked out the math.
The full derivation and outputs from the example system
A summary of the important equation
A version with closer to the original work the other guy did
A copy of the original paper but with the images showing correctly. At the moment I downloaded it, his plots wouldn't show up.
Run the example in Octave
Run the example in Matlab
Run the example using the state space form closer to the original in the other guy's paper