I doubt that it was supported that far back, but I am having difficulty finding specific documentation of the limitations. The functionality was integrated into MATLAB around R2013b, so I would doubt that it would work any earlier than about R2011a.
The file you need was named MATLABConnector.zip . It appears to no longer be available from the Mathworks web site.
I find some locations which appear to have saved copies of it, but when I look at them, there is not even one that I would trust.
