optimization - I am trying to write code in matlab for inner current control loop, my aim is minimizing error, need code verification -

i trying write following inner current control loop structure in matlab. both these diagrams inter related , using these diagrams made following code, aim in code minimize id*-id, doing using itea. plz me in verifying code. diagram in image link below. have implemented link in code below.

`

the standard way connect block diagram use append/connect. system .

to connect output, need additional block 7 (we can not connect system output input of block, output):

so, code can this:

sys1= tf(1,[lt rt]); sys2= omega*lt; sys3= omega*lt; sys4= tf(1,[lt rt]); sys5= (kp + ki/s); sys6=(kp + ki/s); sys7 = 1; system= append(sys1,sys2,sys3,sys4,sys5,sys6,sys7); connections= [ 1 2 -5;     2 4 0;     3 1 0;     4 -3 -6;     5 7 0;     6 -4 0;     7 -1 0];   inputs=  [7 4 5 6]; outputs= 7;  system= connect(system,connections,inputs,outputs);  

note can't use name-based , index-based connections @ 1 time.