You need to use by Giampiero Campa Legacy MATLAB and Simulink Support for Arduino between Matlab Arduino 2006 and Matlab Arduino 2013
Explanation in https://es.mathworks.com/matlabcentral/fileexchange/32374-legacy-matlab-and-simulink-support-for-arduino?focused=6202591&tab=function
Answer for Error using arduino (line 104) Warning: Unsuccessful read: A timeout occurred before the Terminator was reached.
The answer is: 1 In the Arduino software(IDE). You need write the code, which you find in file "adioes.pde" There are three files adio, adioe, adioes. A for analog D for digital I for input O for Output E for encoder S for Servo. If you need a Servo o a encoder, you need put the code more complete adioes. 2 Compile this code and send to arduino. Close the IDE 3 To open matlab and to write a=arduino("COMxx") 4 You has finalized the Arduino instalation