Didn't notice this previously. Anyhow, can you post the equivalent mathematical model that describes the linearized dynamics of what is shown in your Simscape model? For example,
If you have the original control-affine nonlinear model, then also can.
But I notice a something labelled "PI" here. If that is related to your PID, then the "D" must be missing. Would you point out where your D is?
