What are you trying to model? Real autopilots don't have perfect instrumentation. If David is right about the behavior of the turn coordinator, then a real C172-class aircraft simply won't have the fidelity to drive your autopilot.
I found my source for the lag in the turn coordinator:
http://www.avweb.com/news/avionics/183238-1.html
Here's the most relevant excerpt:
The dashpot is replaced by a viscous dampener, which causes the turn coordinator to react less to turbulence than the traditional turn-and-slip instrument.
This makes sense -- without some damping, in turbulence or chop the TC would vibrate back and forth constantly. I'm sure that STEC and other AP makers consider the damping a good thing, not a disadvantage.
All the best,
David
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