effort_controllers/JointEffortController creting random and wrong movement

[offjangir]

I have been trying to run my LQR controller which works pretty well on state space model.
When I simulate it in KuKa IIWA7 using ros_control Joint effort controller it starts random motion even though right commands are being generated.
Moreover the Joint Effort is not running any PID just running a /command which is directly publishing the values.
Is there any work around so that I can get same performance as JointVelocity and JointPosition controllers. I suspect this is happening to gravity not being compensated.
Any help or direction?