Linearization error in PID controller block

Hello,, I have been trying to make a closed loop speed control for a PMDC motor using a PID controller. The problem is that each time i tune the controller is gives a linearization error. If you have any knowledge on how to fix this issue plz advice.

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Preguntada:

el 18 de Nov. de 2015

Cerrada:

el 20 de Ag. de 2021

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