$M$ is the midpoint of side $BC$.
$\angle AQD=\angle AEF=\angle B$ and $\angle ARD=\angle AFE=\angle C$
\[\angle EPB=180\circ - \angle PEB-\angle EBP=180\circ-(\angle AEB-\angle AEF)-(\angle EBA+\angle ABP)\]
\[=180\circ-(90\circ-\angle B)-\{(90\circ-\angle A)+(180\circ-\angle B)\}=2\angle B+\angle A-180\circ=\angle B-\angle C\]
From $\Delta EBP$ \[\frac{PB}{sin\angle PEB}=\frac{BE}{sin\angle EPB}\Rightarrow \frac{PB}{sin(90\circ - \angle B)}=\frac{c\ sin \angle A}{sin (\angle B-\angle C)}\Rightarrow PB=\frac{c\ sin\angle A cos\angle B}{sin(\angle B-\angle C)}\]
$BD=c\ cos\angle B$
$\therefore PD=PB+BD=c\ cos\angle B\{\frac{sin(\angle B-\angle C)+sin\angle A}{sin(\angle B-\angle C)}\}$
From $\Delta ARD$ \[ \frac{RD}{sin\angle RAD}=\frac{AD}{sin\angle ARD}\Rightarrow \frac{RD}{sin(90\circ-\angle B)}=\frac{c\ sinB}{sin\angle C}\Rightarrow RD=\frac{c\ sin\angle B\ cos\angle B}{sin\angle C}\]
\[\therefore \frac{PD}{RD}=\frac{\{sin(\angle B-\angle C)+sin\angle A\}sin\angle C}{sin(\angle B-\angle C)sin \angle B}\]
From $\Delta ADQ$\[\ \frac{QD}{sin\angle DAQ}=\frac{AD}{sin\angle AQD}\Rightarrow \frac{QD}{sin(90\circ-\angle C)}=\frac{b\ sin\angle C}{sin\angle B}\]\[\Rightarrow QD=\frac{b\ cos\angle C sin\angle C}{sin\angle B}=\frac{a\ cos\angle C sin\angle C}{sin\angle A}\]
\[DM=BM-BD=\frac{a}{2}-c\ cos\angle B=\frac{a}{2}-\frac{a\ sin\angle C cos\angle B}{sin\angle A}=a\{\frac{sin\angle A-2sin\angle C cos\angle B}{2sin\angle A}\}\]
\[\therefore \frac{QD}{DM}=\frac{2sin\angle C cos\angle C}{sin\angle A-2sin\angle C cos\angle B}\]
Now,
\[\frac{PD}{RD}=\frac{QD}{DM}\]
\[\Leftrightarrow \frac{\{sin(\angle B-\angle C)+sin\angle A\}sin\angle C}{sin(\angle B-\angle C)sin \angle B}=\frac{2sin\angle C cos\angle C}{sin\angle A-2sin\angle C cos\angle B}\]
\[\Leftrightarrow \frac{sin(\angle B-\angle C)+sin\angle A}{sin(\angle B-\angle C)sin \angle B}=\frac{2cos\angle C}{sin\angle A-2sin\angle C cos\angle B}\]
\[\Leftrightarrow \frac{sin(\angle B-\angle C)+sin\angle A}{sin(\angle B-\angle C)sin \angle B}=\frac{2cos\angle C}{sin(\angle B+\angle C) -2sin\angle C cos\angle B}\]
\[\Leftrightarrow \frac{sin(\angle B-\angle C)+sin\angle A}{sin(\angle B-\angle C)sin \angle B}=\frac{2cos\angle C}{sin(\angle B-\angle C)}[\text {as} EF \text{intersects} BC, \angle B \ne \angle C\]
\[\Leftrightarrow \frac{sin(\angle B-\angle C)+sin\angle A}{sin \angle B}=2cos\angle C\]
\[\Leftrightarrow sin(\angle B-\angle C)+sin\angle (\angle B+\angle C)=2cos\angle C sin \angle B\]
Which is true.
$\therefore \frac{PD}{RD}=\frac{QD}{DM}\Rightarrow PD\cdot DM=QD\cdot RD$
So, $P,R,M,Q$ cyclic