After solving the DGS issue with the filter loading, I could test the simulink model on the control of YAW of PR.

The mechanical TF and the closed loop TF are shown in pic 1 and 2.  The comparison between the open and closed loop spectrum is shown in pic 3. The control seems to work fine.

UGF is at ~ 6 Hz and phase margin is ~ 50 deg.  A first, rather basic version of medm screen developped for the control is shown in pic 4.

Error and correction signals are currenty in counts and needs to be calibrated.