Here is
3.1199*x^4 + -4.4664*x^3 + t2=2.2378*x^2 + 0.1222*x
when it is placed against
0.7134*x^3 + -2.2091*x^2 + 2.4878*x
Green show the voltage applied using the simbots equations
Magenta is the linear line we'd like to see in velocity (please ignore the skip at the beginning... that is a key pressing artifact in the simulation)
Cyan is a simulated encoder, emulating the victor equation that is listed on the simbotics pdf.
It is interesting to see how well they line up, but they are not perfect... I'm interested in how this inverse equation was made given the original equation.