I've added the PIT and YAW dofs to the MDC and MDP systems. The pendula frequencies in MDP are 0.8, 0.5, 0.6 Hz for POS, PIT, and YAW respectively. The three dofs are linear and uncoupled, and stable, but there is no modeled noise in the system (yet) and some gains may need bumping up in the presence of noise. The MDC filters are identical for each dof (3:0.0 and Cheby). The PIT and YAW transfer functions look pretty much like the one Rana recently took of POS, but of course with the different pendulum frequencies. I've attached one for YAW.