Solve System of NonLinear ODEs with bvp4c

I am trying to solve a system of ODES with specific boundary conditions

q''=inv(DD)*(T-CC*q'-gg)

in which q is a three dimensional vector q=[x(t),y(t),z(t)] and q'=dq/dt,q''=ddq/ddt

DD=DD..DD is a matrix independent of q

T=T(q')..T is a vector dependent on the first derivative of q

CC=CC..CC is a matrix independent of q

gg=gg..gg is a vector independent of q

The boundary conditions are: qa=[0,y0,z0], qb=[xb,0,0]

I have found the description of the bvp4C from the official Matlab website and some in the internet but they all just take q as a one dimensional vector dependent only on one variable. I would really appreciate any help as to how I set up the functions bvpfcn, bcfcn and solinit for this particular problem.