build dc servo permanent magnet with simulink transfer closed loop system. i have put the files we were given to use, put not sure how to put it together.the elctrical system is something i modified from an original file. it is for the four quadrant power

Jeq=152e-6;

Ke=0.1;

Kt=0.1;

Vd=60;

Vtri=5;

Fs=33e3;

kPWM=Vd/Vtri;

%Current Controller Design

tau_a=La/Ra;

Fc=1000; %Given requirement (current controller bandwidth)

wc=2*pi*Fc;

KI_i=Ra*wc/kPWM;

Kp_i=KI_i*tau_a;

%Parameter Variation

Ra_1=1.9;

La_1=5e-3;

%Speed controller Design

Fc_w=Fc/10;

wc_w=2*pi*Fc_w;

PM=60;

Ratio=tand(PM)/wc_w; %Ratio=Kpw/Kiw

KI_w=((wc_w^2)*Jeq)/(Kt*(sqrt(1+((wc_w*Ratio)^2))));

Kp_w=Ratio*KI_w;