PID Controller tuning process

Please if anyone could help I really need help I am working with tuning process for a close-loop system with two PIDs by using PSO (PARTICLE SWARM OPTIMIZATION) but the results of PIDs parameters that get from the algorithm don't give the desired values of the system , could anyone help me , what is the wrong thing in the code ? the code is below

                                               %------------------%
                                               %    The code      %
                                               %------------------%

clc n = 50; % Size of the swarm " no of birds "

bird_setp =50; % Maximum number of "birds steps"

dim = 6;

K=0;

% Dimension of the problem

xmax=[200 10 100 200 10 100 ] xmin=[10 0 0 160 0 0 ]

c2 =1.2; % PSO parameter C1

c1 = 1.2; % PSO parameter C2

w =0.9; % pso momentum or inertia

fitness=0*ones(n,bird_setp);

R1 = rand(n,dim);

R2 = rand(n,dim);

current_fitness =0*ones(n,1);

for i= 1:n

    for j= 1:dim

     current_position (i,j)=rand*(xmax(j)-xmin(j))+xmin(j); 

    end
end

%current_position

velocity = .3*randn(n,dim) ;

local_best_position = current_position ;

K=current_position

for i=1:n

% Parameters of PID 1 P1=K(i,1); D1=K(i,2); I1=K(i,3);

% Parameters of PID 2 P2=K(i,4); D2=K(i,5); I2=K(i,6);

      simopt = simset('solver','ode4','SrcWorkspace','Current','DstWorkspace','Current');  % Initialize sim options
         [tout,xout,yout] = sim('PID_Simulink',[0 10],simopt);

         e1=abs(Error_Velocity);
         e1=sum(e1);

         e2=abs(Error_theta);
         e2=sum(e2);

         F(i)=e1+e2;
end

local_best_fitness = F ;

[global_best_fitness,g] = min(local_best_fitness) ;

for i=1:n

    globl_best_position(i,:) = local_best_position(g,:) ;

end

%globl_best_position

dif1=local_best_position-current_position;

dif2=globl_best_position-current_position; %-------------------% % VELOCITY UPDATE % %-------------------%

velocity = w velocity + c1(R1.*(local_best_position-current_position)) + c2*(R2.*(globl_best_position-current_position));

                                               %------------------%
                                               %   SWARMUPDATE    %
                                               %------------------%

current_position = current_position + velocity ;

                                               %------------------------%
                                               %  evaluate anew swarm   %
                                               %------------------------%
iter = 0 ;        % Iterations’counter

while ( iter < bird_setp )

iter = iter + 1

for i = 1:n,

% Parameters of PID 1 P1=K(i,1); D1=K(i,2); I1=K(i,3);

% Parameters of PID 2 P2=K(i,4); D2=K(i,5); I2=K(i,6);

      simopt = simset('solver','ode4','SrcWorkspace','Current','DstWorkspace','Current');  %

Initialize sim options

         [tout,xout,yout] = sim('PID_Simulink',[0 10],simopt);

         e1=abs(Error_Velocity);
         e1=sum(e1);

         e2=abs(Error_theta);
         e2=sum(e2);

         F(i)=e1+e2;
end

for i = 1 : n

        if F(i) < local_best_fitness(i)

           local_best_fitness(i)  = F(i); 

           local_best_position(i,:) = current_position(i,:)   ;

        end   
 end

 [current_global_best_fitness,g] = min(local_best_fitness);

if current_global_best_fitness < global_best_fitness

   global_best_fitness = current_global_best_fitness;

    for i=1:n

        globl_best_position(i,:) = local_best_position(g,:);
    end

end

 velocity = w *velocity + c1*(R1.*(local_best_position-current_position)) + c2*(R2.*(globl_best_position-current_position));
 current_position = current_position + velocity; 

 sprintf('The value of interation iter %3.0f ', iter );

end

globl_best_position(i,:)=K(1,:);

simopt = simset('solver','ode4','SrcWorkspace','Current','DstWorkspace','Current');

% Initialize sim options

         [tout,xout,yout] = sim('PID_Simulink',[0 10],simopt);

 plot(xd,yd,'r', x,y,'k')

[Maria]

any answer ???

[Image Analyst]

Here's one: http://www.mathworks.com/matlabcentral/answers/13205-tutorial-how-to-format-your-question-with-markup