Need Help Designing a Linear Controller for Yaw Motion of a Hexacopter?

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Hi everyone, I am to design a linear controller for the yaw motion of a hexacopter. My professor gave me this simplified version of the motion (in picture) . However I am trying to derive it myself, but I really can't get my head around it. Any help would be appreciated thanks
 

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Of course t_m is the time constant, not tau_m*s
 
Your professor just wrote a first order system which is linear. However, in order to derive a proper you need to know the equation of the yawing motion of your device. Also, you need to know the transfer function of the hexacopter itself. Then you can design the open loop system but to be honest I don't really remember controls and feedback and I don't think I can help you much :(
 
I agree. You have to know the equation of the yawing motion of the device as well as the transfer function of the hexacopter.