how can i command a maxon motor epos4 driver using matlab simulink

Hi Dear friends

I have a maxon motor and its epos4 driver.also i have an IMU that send data in two I2C and UART form that give me some feedback in control process. first i tried to use visual studio's C# coding environment for comanding epos and motor control. i also read the IMU in C# using UART to USB converter. but after running ,i see there is som time daly that increse as time goes on, maybe its main reason is IMU communication with C#. In addition to that also because of limitations that there are in coding environment i want to use matlab simulink for controling this motor using its driver. how can i do that? and also how i should solve the delay problem? i will be thankful if anyone share its experience with me

thanks