How can I autotune Speed and Current Control of Field Oriented Control of PMSM?

I have been trying to develop a model for a grinding process with PMSM Motor and vector control using the field oriented control method.

And I have used this example for the start:

https://de.mathworks.com/help/releases/R2024b/sps/ug/three-phase-pmsm-drive.html

I have changed the values of the motor (like the stator resistance Rs= 5.57Ohm, max. Torque = 3.8Nm and max. Performance = 500W, inductances Ld=Lq= 1.066e-2 H, permanent magnet flux = 0.5 and inertia (using its mechanical block J = 3e-5). See the .mat file for all the values.

Now since I had to change also the configuration of the FOC control for the speed and the currents. I am trying to autotune the PI controllers for the Id and Iq currents and also the speed. since the feedback speed is not equal the reference speed.. See the two following pictures for a comparison.

The first picture contains the scope with the default values unchanged from the PMSM example.

the second picture contains the scope with the Torque ref. (yellow) and torque fd (blue) and speed ref. (yellow) and speed fd (blue) and the currents.

I changed the Kp and Ki values of the PI-Controller for the currents and the velocity manually. Now I have been trying to use autotuning examples, with which I can put the motor and the inverter and get autotuned Kp and Ki values, so that the signals can look like in the first picture.

I have used two autotuning examples until now. The first one is:

https://de.mathworks.com/help/slcontrol/ug/tune-field-oriented-controllers-for-a-pmsm-using-closed-loop-pid-autotuner-block.html

I put the motor and the inverter in and I still have not gotten any better results, since the original controller response is better than the autotuned one..

Since this example is using the feedforward control with 3 matrixes (LdMatrix, LqMatrix, pMatrix). I changed all the values of the matrix into the same value, since I have only one value for Ld and Lq (Ld = Lq = 0.0071, pm = 0.5 for all of the colums).

I would appreciate every hint or help from you. I have been stuck for weeks already...