Tuned PID motor controller leads to a slow response

I am modelling an Electronic Throttle with the aim of choosing the right sized motor. I have tried to implement a PID control to my motor controller but it is leading to a slower response than expected. When I remove the PID controller and run the motor simply the response it much faster. I have used the tune function on matlab but it is still not as fast as it should be. I have attached the simulink model and some images describing my issue.

My model including the PID control, leads to the follwing response.

Ideally the settling time should be <0.25s for this kind of input
Now the same mechanical model with a simple step input is much much faster in responding

Its response

Zoomed in

You can see the response to 50deg in this case is ~0.1s.
Is there anything I can do? on the PID tuner workspace I get the settling time should be 0.011s. Maybe I should control the brake port on the H bridge controller with a second derative?
Thanks for your helpI am modelling an Electronic Throttle with the aim of choosing the right sized motor. I have tried to implement a PID control to my motor controller but it is leading to a slower response than expected. When I remove the PID controller and run the motor simply the response it much faster. I have used the tune function on matlab but it is still not as fast as it should be. I have attached the simulink model and some images describing my issue.

My model including the PID control, leads to the follwing response.

Ideally the settling time should be <0.25s for this kind of input
Now the same mechanical model with a simple step input is much much faster in responding

Its response

Zoomed in

You can see the response to 50deg in this case is ~0.1s.
Is there anything I can do? on the PID tuner workspace I get the settling time should be 0.011s. Maybe I should control the brake port on the H bridge controller with a second derative?
Thanks for your help I am modelling an Electronic Throttle with the aim of choosing the right sized motor. I have tried to implement a PID control to my motor controller but it is leading to a slower response than expected. When I remove the PID controller and run the motor simply the response it much faster. I have used the tune function on matlab but it is still not as fast as it should be. I have attached the simulink model and some images describing my issue.

My model including the PID control, leads to the follwing response.

Ideally the settling time should be <0.25s for this kind of input
Now the same mechanical model with a simple step input is much much faster in responding

Its response

Zoomed in

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