how to change Uncontrollable and unobservable model to controllable and observable

hi guys

 Km = 50.2*10^-3; % NM/A
Kb = (1/(190*2*pi/60)); %or  V/Wm (wm in rps) volt/rps
Jm =11.6 *10^-7; %kgm^2
Bm = ((50.2*10^-3)*(20*10^-3)/(9080*2*pi/60));
R =10.6; %ohm
L = .82*10^-3;% H(henry)
Jl = 1.16*10^-6;
c = 6.8117 * 10^-5;
Ks= 0.05;
a = [-R/L 0 -Kb/L 0 0; 
    0 0 1 0 0;
    Km/Jm -Ks/Jm -c/Jm Ks/Jm c/Jm ; 
    0 0 0 0 1; 
    0 Ks/Jl c/Jl -Ks/Jl -c/Jl]
b = [1/L;0;0;0;0]
p = [0 1 0 0 0]
this is my code... it says the system is uncontrollable and unobservable. my question is how to make this into controllable and observable?

thankyou