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wheel velocity oscillate

I use gazebo7 with ubuntu16.04 to simulate a four wheel robot. The robot was controlled by a model plugin with PID. The problem is that the wheel velocity (radian per second) oscillates, see the attachment pictureC:\fakepath\wheel velocity.jpg. The sdf file C:\fakepath\model.sdfand plugin C:\fakepath\topymodel_push.cppis also in the attachments.

Thank you in advance.