You will need to add some things to this model to compute the integral square error. The objective function should call the model (using the sim command) to compute the integral square error. Matlab script should call one of the minimization routines like feminine, fmincon, or in search.
 
 
 

Consider the control system shown below. This system might represent the control of a DC motor. We want to position the shaft to angle determined by, Wcom. The problem is to choose the parameters Kr, the tachometer feedback and Kp, the motor shaft position, so as to minimize the integral squared error between the command input and the controlled output, . The command input is Vcom = 5 degrees and is shown as %3D a step input of amplitude 5.