linear stepper tubular motor

I make a model of the linear tubular stepper motor with Matlab, the motor is controled with four phases (step1=2.54 mm,step2= 5.08mm, step3=7.62 mm, step4=10.16 mm). I made the model in open loop and I'm looking now some help to achieve the closed loop (fuzzy, neuronal network, PID, etc). Thanks in advance. My mail: [e-mail]