If you have a NoneType error, it probably means that the model/joint is not found.
The problem is in this case, you spelled it “modelroot” instead of “modelRoot”.
Partnames are case sensitive.
Hint: if you call setHpr you can set the H, P and R at the same time, thats easier.
This is the correct code:
control = hand.controlJoint(None,"modelRoot","bone3")
hand.loop("move")
control.setHpr(2,2,2)