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\begin{equation*}
    \frac{d}{dt}\begin{bmatrix} p \\ \theta \\ \dot p \\ \dot \theta \end{bmatrix} =
    \begin{bmatrix}
      0 & 0 & 1 & 0 \\
      0 & 0 & 0 & 1 \\[0.5ex]
      0 & {m^2 l^2 g}/{\mu}
        & {-c J_t}/{\mu} 
	& {-\gamma l m}/{\mu} \\[0.5ex]
      0 & {M_t m g l}/{\mu}
        & {-c l m}/{\mu}
        & {-\gamma M_t}/{\mu}
    \end{bmatrix} \begin{bmatrix} p \\ \theta \\ \dot p \\ \dot \theta \end{bmatrix} + 
    \begin{bmatrix}
      0 \\ 0 \\[0.5ex]
        {J_t}/{\mu} \\[0.5ex] 
        {l m}/{\mu} 
    \end{bmatrix} u
\end{equation*}
\end{document}