Auto-tuning Simulink Gains

Hello,

I have a Simulink model that I need to tune. Specifically it is a PD control with the Kp and Kv being a (n x n) identity matrix multiplied by some coefficient. The inputs are vectors of length 3. Is it possible to auto-tune the gains to have the output match the desired output?

If so is it possible to independently auto-tune the gains for each element along the identity matrix?

Thanks