Implementation of a nonlinear Matrix Equation in Simulink

Dear Mathworks community,

I have derived the equations of motion of a control moment Gyroscope depicted on the attached Image via Euler-Lagrange. q2 q3 represent a set of angles between multiple gimbals, whereas w1,w2,w3,w4 represent the derivatives of the angles with respect to t (angular velocities). Id and Jd represent Moment of inertia (constants). I would like to simulate this model. I brought the EOM in the following form:

 J*[w1dot; w2dot; w3dot; w4dot]=[f1(q2,q3,w1,w2,w3,w4);f2(...);f3(...);f4(...)]
 [w1dot; w2dot; w3dot; w4dot]=inv(J)*[f1(q2,q3,w1,w2,w3,w4);f2(...);f3(...);f4(...)]

where J(q2,q3) represents a 4x4 Matrix (Inertia Matrix) and widot (i=1,..,4) the angular acceleration.

How do I implement this in Simulink?

Thank you in advance

Sincerely,

Pascal