@Mosher because i wanted to control the direction too.
OK, just checking you know why the PNP is there and not just copied some circuit you saw somewhere.
i made opamps and a darlington pair
I would not describe that NPN and PNP as 'Darlingtion'
They are in what I would call 'push-pull' arrangement. (anyone care to elaborate or disagree)
i tried inserting 220nf caps across R24
Yes, that will not help because that is not putting a filter on the op-amp.
That is putting an integrator on the op-amp.
And it is the wrong op-amp
I would go for the attached, ignore Rout, the filtering element is C1
2- Removing the 1uF cap (C42) causes alot more oscillations than before
So, I think the 1uF cap is along the right lines for the filter.
Incidentally, congratulations, what you have built is a basic variable voltage regulator (which is also able to go into -ve)
Try looking up fundamentals of voltage regulators and why/where the filtering need to be inserted.
What your circuit is lacking, is short circuit protection. careful not to short the output, it will destroy the transistors.