Hi Devendra, thank you for putting together this model it has been extremely helpful for me. I however have a few questions 1) I dont't have stste flow toolbox so I built my own but following the logic that you presented in your document. 2) I disables all the zero crossings to avoid errorr. 3) I don't seem to get the control of the signal the speed remains oscillating around zero rather than following the commanded speed. Have you experience this before? I am usign 0de113 and also have tried changing the PID constants but with no success. I would appreciate very much your reply.