If t is already defined as a numeric vector, then:
y = a(1) + a(2)*t + a(3)*t.^2 + a(4)*sin(t) + a(5)*cos(t);
plot(t, y);
If t is a symbolic variable, I believe you could use the same y, but afterwards you would either have to subs() in actual numeric values or else you would have to use ezplot()