From ControlTheoryPro.com

1 Introduction
Sorry this is still placeholder...
2 Honeywell GG5300 MEMS Rate Gyro
Honeywell GG5300 MEMS Rate Gyro Plant
The Honeywell GG5300 Three Axis MEMS Rate Gyro is advertised as being for "Missiles & Munitions." The datasheet available on Honeywell's website states
Bandwidth @ 90 deg phase  100 Hz typical 
The typical sensor model would have the following parameters
Hz,  , 
The sensor has a scale factor (Volts per radian) that we are ignoring for now. (The scale factor here is just a gain. External electronics can make this scale factor whatever is convenient.) Using the parameters in the above table a transfer function can be formed in MATLAB with the following commands
>> wn = 100 * (2*pi); >> z = 1/sqrt(2); >> K = 1; >> GG5300 = tf(K * [wn^2], [1, 2*z*wn, wn^2]);
The resulting frequency response for a single axis is
MATLAB Note 
It is fine to model this sensor as a transfer function. However, when combined into a larger LTI model it is recommended that every individual piece of the larger model be converted to a statespace object. Statespace objects are more accurate. 
For most models each axis can be modelled with an identical transfer function.