A motor control system of determining a reference d-axis current (I d_REF), comprising: a motor; a DC power source and DC input lines, the DC power source generating a bridge voltage (V ecu) across the DC input lines; a current command controller in communication with the motor and the DC input lines, the current command controller configured to: monitor the bridge voltage (V ecu) and a torque reference command (T e); and determine a peak current (I p_REF) based on the torque reference command (T e); characterized in that the current command controller is further configured to: determine a current angle (β) based on the peak current (I p_REF); determine a reference d-axis current (I d_REF) based on the current angle (β); determine a reference q-axis current (I q_REF) based on the reference d-axis current (I d_REF) and the torque reference command (T e); determine a voltage command (V cmd) based on the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF); determine the reference d-axis current (I d_REF) and the reference q-axis current (I d_REF) based on a first region (REGION I) of operation if the voltage command (V cmd) is less than the bridge voltage (V ecu); and determine the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF) based on a second region (REGEION II) of operation if the voltage command (V cmd) is greater than or equal to the bridge voltage (V ecu). a motor; a DC power source and DC input lines, the DC power source generating a bridge voltage (V ecu) across the DC input lines; a current command controller in communication with the motor and the DC input lines, the current command controller configured to: monitor the bridge voltage (V ecu) and a torque reference command (T e); and determine a peak current (I p_REF) based on the torque reference command (T e); characterized in that the current command controller is further configured to: determine a current angle (β) based on the peak current (I p_REF); determine a reference d-axis current (I d_REF) based on the current angle (β); determine a reference q-axis current (I q_REF) based on the reference d-axis current (I d_REF) and the torque reference command (T e); determine a voltage command (V cmd) based on the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF); determine the reference d-axis current (I d_REF) and the reference q-axis current (I d_REF) based on a first region (REGION I) of operation if the voltage command (V cmd) is less than the bridge voltage (V ecu); and determine the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF) based on a second region (REGEION II) of operation if the voltage command (V cmd) is greater than or equal to the bridge voltage (V ecu). monitor the bridge voltage (V ecu) and a torque reference command (T e); and determine a peak current (I p_REF) based on the torque reference command (T e); characterized in that the current command controller is further configured to: determine a current angle (β) based on the peak current (I p_REF); determine a reference d-axis current (I d_REF) based on the current angle (β); determine a reference q-axis current (I q_REF) based on the reference d-axis current (I d_REF) and the torque reference command (T e); determine a voltage command (V cmd) based on the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF); determine the reference d-axis current (I d_REF) and the reference q-axis current (I d_REF) based on a first region (REGION I) of operation if the voltage command (V cmd) is less than the bridge voltage (V ecu); and determine the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF) based on a second region (REGEION II) of operation if the voltage command (V cmd) is greater than or equal to the bridge voltage (V ecu). determine a current angle (β) based on the peak current (I p_REF); determine a reference d-axis current (I d_REF) based on the current angle (β); determine a reference q-axis current (I q_REF) based on the reference d-axis current (I d_REF) and the torque reference command (T e); determine a voltage command (V cmd) based on the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF); determine the reference d-axis current (I d_REF) and the reference q-axis current (I d_REF) based on a first region (REGION I) of operation if the voltage command (V cmd) is less than the bridge voltage (V ecu); and determine the reference d-axis current (I d_REF) and the reference q-axis current (I q_REF) based on a second region (REGEION II) of operation if the voltage command (V cmd) is greater than or equal to the bridge voltage (V ecu).