MatrixForm[Apr={{-c1_,-c2_,-e3_,0,-c10_},{1,-c4,-e2,0,-c10},{0,-c8,-e1,0,-c7},{0,c6,c11,0,-c6},{1,0,0,0,0}}]

MatrixForm[Xpr={wz[t], α[t],Δv[t],ΔH[t],ϑ[t]}]
MatrixForm[XprPR=D[Xpr,t]]

MatrixForm[Bpr={{-c3,r3},{-c9,r1},{0,r2},{0,0},{0,0}}]

MatrixForm[Upr={δv[t],δsg[t]}]

urdv1=MatrixForm[Apr.Xpr+Bpr.Upr]

urdv=MatrixForm[Table[XprPR[[i]]-urdv1[[1,i]]==0,{i,1,5}]]