You didn't provide the transfer function of the gyroscope with sensor dynamics.
In short, you need to provide the mathematical part for the modeling problem, so that we can show you the technical part of MATLAB. Anyhow, here is an example of simulation:
If a system is given by 
, where 
, 
, 
then the transfer function probably looks like this:
, where , , then the transfer function probably looks like this:s = tf('s');
Gp = 1/(s^2 + 2*s + 1)
step(Gp, 10)
The state-space model can be obtained by making a conversion from the transfer function.
sys = ss(Gp)
As expected, the simulation of the state-space should produce the same result as the step response of 
step(sys)
