I got following equation:
$\begin{bmatrix} b_{u_1}\\ b_{u_2}\\ b_{u_3}\\ b_{u_4}\\ \end{bmatrix}\cdot\left( \begin{bmatrix} \vec{k}^T-k_p\cdot\vec{c}^T&K_I \end{bmatrix}\cdot \begin{bmatrix} x_1\\ x_2\\ x_3\\ e \end{bmatrix}+k_p\cdot w\right)$
where $\vec{k}^T = \begin{bmatrix}k_1 & k_2 & k_3\end{bmatrix}\in \mathbb{R}^{1x3}$
where $\vec{c}^T = \begin{bmatrix}c_1 & c_2 & c_3\end{bmatrix}\in \mathbb{R}^{1x3}$
and $k_p,K_I,w$ are scalars.
I want to multiply, and order it in the next step..
My first step would be to multiply $\vec{b}$ into the Bracelet.
$\begin{bmatrix} b_{u_1}\\ b_{u_2}\\ b_{u_3}\\ b_{u_4}\\ \end{bmatrix}\cdot \begin{bmatrix} \vec{k}^T-k_p\cdot\vec{c}^T&K_I \end{bmatrix}\cdot \begin{bmatrix} x_1\\ x_2\\ x_3\\ e \end{bmatrix}+ \begin{bmatrix} b_{u_1}\\ b_{u_2}\\ b_{u_3}\\ b_{u_4}\\ \end{bmatrix}\cdot\left(k_p\cdot w\right)$
Then: $\begin{bmatrix} b_{u_1}\\ b_{u_2}\\ b_{u_3}\\ b_{u_4}\\ \end{bmatrix}\cdot \begin{bmatrix} \vec{k}^T-k_p & K_I\end{bmatrix} = \begin{bmatrix} b_{u_1}\cdot\vec{k}^T-k_p & b_{u_1}\cdot K_I \\ b_{u_2}\cdot\vec{k}^T-k_p & b_{u_2}\cdot K_I \\ b_{u_3}\cdot\vec{k}^T-k_p & b_{u_3}\cdot K_I \\ b_{u_4}\cdot\vec{k}^T-k_p & b_{u_4}\cdot K_I \\ \end{bmatrix}$
but after that i have no idea..