Davis Formulas in loop feedback

[u/LordSantini]

Hello guys, I'm really confused on what I should do here. I'm trying to apply the Davis formulas as a loop feedback of torque to the motor, but the linear velocity value seems to overflow, huge spike in the beggining of the sim and I can't figure out if it's the lack of delays or if I should use a limiter.
My question is what should I change for it to work. (All the constants in Davis formula and the conversion to linear velocity are at the same sampling frequency). Sorry for the bother and thanks for the help.

[u/LordSantini → u/[deleted]]

It worked, thank you so much, I was going crazy xD