My plant as show below:

Xdot=AX+B1W+B2U

Z=C2X

Y=CX

the matrices are A=[0 10 2 ; -1 1 0 ; 0 2 -5];

B1=[1;0;1];

B2=[0;1;0];

C=[0 1 0];

C2=[0 1 0].

How can find the IMC controller by including B1( disturbance) and Z(performance output)?

If anyone knows the answer, please reply to me.