Ok, these specs are not much demanding.
If you have no problems buying used items, search for "National Instruments DAQ" on Ebay. They have a big range of DAQ solutions, almost all of them with Matlab support. Usually the best offers (cheaper) are for PCI boards. If you can have a legacy PC that has PCI slots, it doesn't cost much money to have a high performance DAQ platform. The last motherboard that I bought with PCI slots was a Biostar B350GT5, for AMD Ryzen CPUs. So you can have support for PCI boards in the current AMD CPUs. But probably it is the last generation that will have motherboards with PCI support.
For around USD500 you can buy an used PCI 6281 board: 16 AI (18-Bit, 625 kS/s aggregated), 2 AO (2.8 MS/s), 24 DIO
For around USD150 you can buy an used USB 6009 board: 8 AI (14-Bit, 48 kS/s), 2 AO (150 Hz), 13 DIO
But for your application, considering the portability, the National Instruments MyRIO fits well. It is a educational oriented product that you can program to run alone. It has a processor, a FPGA, ADCs, DACs, DIOs, etc:
http://www.ni.com/pdf/manuals/376047c.pdfLook at this example:
It is more than you need, but will allow you start your project very fast. And maybe you can find other uses to it.