Vehicle dynamic system (Bicycle model) is given by the following state space model (which also includes Road Bank angle):
$\begin{Bmatrix}\dot{x_1}\\\dot{x_2}\end{Bmatrix}=\begin{bmatrix}a_{11}& a_{12}\\ a_{21} &a_{22}\end{bmatrix}.\begin{Bmatrix}x_1\\x_2\end{Bmatrix}+\begin{bmatrix}B1\\B2\end{bmatrix}\delta+\begin{bmatrix}E1\\E2\end{bmatrix}\sin(\theta)$
and:
$\begin{Bmatrix}{y_1}\\{y_2}\end{Bmatrix}=\begin{bmatrix}c_{11}& c_{12}\\ c_{21} &c_{22}\end{bmatrix}.\begin{Bmatrix}x_1\\x_2\end{Bmatrix}+\begin{bmatrix}D1\\D2\end{bmatrix}\delta+\begin{bmatrix}E1\\E2\end{bmatrix}\sin(\theta)$
Now i want to evaluate the transfer functions. In its normal form, state space model is given in terms of 4 matrices A, B, C and D. How can i proceed further to evaluate transfer functions?Any suggestions, If i were to evaluate a TF between 'disturbances' E1 and 'Measurement' Y1?