Modelling Steering Rack with simulink?

I'm using R2009b and I'm trying to create a model of a steering rack with assistance from a DC motor. I am currently trying to use simscape mechanics components to simulate my plant. But I am having some trouble with applying electrical assistance to the steering rack, Via a DC motor

Answer 1

[Michael Lee]

I am now getting Dynamic states at start of simulation are not consistent. Setting all dynamic state initial conditions to zero may fix this problem.