Analytical second order torque harmonic reduction in pmsm drives

A motor control system, comprising:

• a multi-phase permanent magnet synchronous machine (PMSM);
• an inverter configured to supply an alternating current (AC) power to the multi-phase PMSM;
• and
• a controller configured to:
• determine an initial fundamental current command to cause the multi-phase PMSM to generate an output torque in accordance with a torque command;
• load from a machine-readable storage memory, values of a plurality of back electromotive force (BEMF) constants of the multi-phase PMSM;
• determine, based on the initial fundamental current command and the values of the one or more BEMF constants, a final current command;
• and
• command, based on the final current command, the inverter to apply an output voltage to the multi-phase PMSM and thereby causing an output current to be generated in a winding set in accordance with the final current command.