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Need help i'm working on a turtelbot project

first of all excuse my bad english, i don’t if i’m in the good section or no.
I’m working on a turtlebot 2 project.
my subject is to make a PID controller of the robot to control each wheel
i started with a trajectory pathing where i estimate the error
after that, i managed to find the expression of the velocity ( angular and linear ) from the errors
now i am modeling the dynamical of the robot but i need a connexion between the velocities and the torque of the wheels ( left and right ) if its possible
because i can’t find other way to model it
i’m working with simulink to do my project and after i will implant it directlly in the turtlebot 2
Thank you