Can you describe in brief in my circuit 2 loops are there ,current loop and torque loop

You may convert the two loop system into a single loop system by replacing the forward loop transfer function G(s) with G(s) / (1 + G(s)*H(s) ) corresponding to first loop.

Please try and see whether it works.Or else we may have to go for iterative solution. P.S..

yes,

codes are available here;

https://www.researchgate.net/publication/296636431_Codes_in_MATLAB_for_Particle_Swarm_Optimization?ev=prf_pub

Regards,

M.N.Alam

Code Codes in MATLAB for Particle Swarm Optimization

https://www.researchgate.net/publication/297245624_Particle_Swarm_Optimization_Algorithm_and_its_Codes_in_MATLAB

Research Particle Swarm Optimization: Algorithm and its Codes in MATLAB

PSO is optimization technique can be utilized for tuning the parameters(variables) for any controller in any system