The permanent-magnet synchronous machine (PMSM) drive has emerged as a top competitor for a full range of motion control applications [1–3]. For example, the PMSM is widely used in machine tools, robotics, actuators, and is being considered in high-power applications such as vehicular propulsion and industrial drives. It is also becoming viable for commercial/residential applications. The PMSM is known for having high efficiency, low torque ripple, superior dynamic performance, and high power den