Voltage drop in Simulink DC motor model problem

So, I am trying to model a DC motor for a mechatronics task but I can't figure out what is wrong with my model. These are the parameters I put in:

%Motor data
R=1.45; % Terminal resistance
L=110e-6; % Inductance
K_EMF=4.555e-3/(2*pi/60); % Back emf-constant
K_M=43.5e-3;% Torque constant
J=60e-7*10; %Rotor inertia
I_CONST = 0.0230*1000; % Constant current
M_H = 718e-3; % Stall torque
ETA_MAX = 0.795; %Max efficiency

I have attached the plots for 'input vs output' in rad/s and also the response of the voltage. This is to a step input from 0 to 12 rad/s. I have also attached two pictures of the Simulink model. Can anyone find anything that would cause this behaviour?? Thanks in advance!

[Jordan Ross]

Hi Petter,

Can you upload the Simulink model? It would help me figure out the issue you are running in to. Currently, I do not have any information about how the PID Block you have is setup.