However, h(t), H(s) in time domain, has a cross product in it (gyroscopic torque). How can I represent the cross product in h(t) as H(s) so I can simplify the blocks? The goal is to have 1 transfer function to represent the system. Is this possible through linearization or any other techniques? Should H(s), gyroscopic torque, be injected instead of a feedback block? What are common methods to work around cross products?
 More info: The output of G(s) or Y(s) is rate, w. H(s) is ideally calculating gyroscopic torque, w x Iw, where x is cross product and I is inertia.