"could any one know how to code it" - no, sorry. The forum is not a location for obtaining solutions of homeworlk for free. In addition you do not provcide enough information to solve the question: What is u(t), xsi(t) and theta(t)? What are the meaning of the uppercase Xsi and Theta?
As usual for homework questions: Please post, what you have tried so far and ask a specific question concerning Matlab.
