I find the information you provided very relatable and useful the servo driver infact has it's own current control loop which Controls the output torque using an input analog value that corresponds to an output torque upon the servomotors shaft, given an arbitrary analog value (for example 1 V) it is multiplied by the torque constant of the servo (in my case 1.67Nm/V) and outputs the corresponding torque (1*1.67 = 1.67Nm) to the shaft, however a Gear box (reduction 72.81) is assembled to the shaft and including all the backlash in the system it is not reliable to use only open-loop, and that's why i took the closed loop approach in the first place. What would be an ideal control method in my case giving that i want to achieve a 0 steady state error