I'm not sure what a "polynomial model" is. But that error message means that lsim is being called on a discrete time system that has an unspcifiied sample time, but the time vector input to lsim is not [0 1 2 3 4 5 ....] (actually, the first point doesn't have to be 0 I don't believe).
For example define a discrete time system with sample time = 0.1 and simuate it for 1 second
sys = tf(1,[1 .5],0.1);
t = 0:.1:1;
y = lsim(sys,sin(t),t); % works
Now define a discrete time system with undefined sample time an simulate it for 11 samples
sys = tf(1,[1 .5],-1)
n = 0:10;
y = lsim(sys,sin(n),n); % works
But an error results with
y = lsim(sys,sin(t),t)
So sys_MIMO1 either needs to have a sample time defined, or you'll have to lsim() it with a sequence of integers as the time input.
