Field-Weakening Control with MTPA of I-PMSM with Hall Sensor

Hey Community,

I am trying to implement Field-Weakening Control with MTPA of I-PMSM with Hall Sensor.

As this example https://in.mathworks.com/help/mcb/gs/field-weakening-control-mtpa-pmsm.html supports QEP encoder sensor. How to integrate this example with Hall sensor. What paarmeter needs to change.?

Additionaly how to update PID tuning parameters.

Thanks in advance.