Incorrect results and plots simulink

Hello,

I am trying to achieve the desired plots on simulink but am unable to do it. I think I am using the correct block diagram wih correct parameters but the plots are nowhere close to what they should be like.

Kindly view the simulink file attached for the plots I am getting, and images of how the graphs should actually be like.

m=4; l=0.3; lc=0.15; g=9.8;

Ra=1; Aa=2; w=8;

torque=((1/3)*m*l^2*y'') + (m*g*lc*sin(y))

gain=(Ra*s + Aa*w) / (s+w)

c_star=((Ra-1)*s+Aa-1)*w) / (Ra*s+Aa*w)

Regards