Adaptive Kalman Filter for Detectable Linear Time-Invariant Systems, Moghe, R., Zanetti, R., Akella, M., Journal of Guidance, Control and Dynamics, 2019.
If you want to program it in Matlab, you may have a view in the Matlab Global Optimization Toolbox which actually covers the mentioned optimization algorithms.
You may also find the following papers interesting which actually performed the discussed task on a real-world drive system:
Conference Paper Improving Torque and Speed Estimation Accuracy by Conjoint P...
Conference Paper A Combined Approach to Identify Induction Machine Parameters...