Problem with model simulation

[vfg11]

Hello Sippy team
I am trying to identify the model of a balancing robot from the data obtained from a real one, the sampling is done in a closed loop because it is an unstable system. I'm using Sippy for system identification, the PARSIM-K option, and apparently I get the identification. My problem arises when I try to compare the real data with those generated by the model, not getting them to be valid.

Attached script and data file to be able to reproduce the problem.
Thank you for your attention

Best regards
Valentin Fernandez

Data
datos.csv

Script
PARSIM-K_id.txt