(ongoing...)
This step in video : https://youtu.be/qdalwH8iwyU (it might be more convenient to copy/paste this link in your usual internet explorer).
This brief can be downloaded at this page http://www.mecatronixe.com/home
(Remark : accorging to you Matlab setup, this link may not open in the Matlab Web Browser, in that case, copy paste this link in your Web Browser : http://www.mecatronixe.com/home )