I am working on vector control of PMSM using 2-shunts to measure the currents and determine the position of rotor. Does anyone has experience on how to tune the PI parameters for Flux, Torque and Speed?

I used hit n trial method to make the motor run. It runs in open loop and transitions to closed loop without any problems. I can also control the speed in closed loop. But I am not sure if the algorithm is perfectly tuned for my motor.

How do I determine if I need to change any of the PI values?

What variables would show what behaviour for a perfectly tuned system?