rDNS needs to point to the hostname of your outbound mailserver not just the domain.
MX records are strictly used to figure what IP address to deliver email for your domain.
rDNS records are strictly used to verify a host connecting to you isn't lying about it's full hostname. If you changed you rDNS for 134.215.237.102 to be mail.powercontrolsys.com, your ISP is probably right, your problems would probably go away (unless you are being blocked for another reason). Did you receive a bounce message from Yahoo describing why your email was rejected? If you didn't, then the info is in the error message your mailserver received when it was rejected from even attempting to deliver the email.
Since you mail flows asymmetrically you should have some other verification of where your outbound email is coming from (every little bit helps as sysadmins like myself implement trickier and trickier ways of extinguishing spam). Since you are already in DNS you should set up SPF(Sender Policy Framework, RFC 4408) records which define your (outbound)SMTP mail hosts. It just some TXT dns entries formatted a specific way, there are free wizards on the web that will generate the text that you need to drop into the TXT DNS record making it easy. Note: standards include a new type of DNS record (SPF, type 99) dedicated to this task, but it will be awhile before the TXT record version will no longer be accepted. For now, both types of records work.
Being able to deliver email these days is about complying with standards (RFCs), credibility, reputation, and trust. Most commercial or enterprise mailservers these days use a weighted scoring system to determine whether to accept email from you. Everything you do to support these things can help you avoid rejection. If you feel inspired, look in DKIM (DomainKeys Identified Mail, RFC 4871)
Best Regards.
PS Wikipedia can give you a good explanation of just about anything