Patent ID: 6982533

Claim:
A method for use with a controller for controlling a machine wherein a torque reference value is provided, the method comprising the steps of: obtaining feedback current values corresponding to the currents provided to the machine; mathematically combining the feedback current values to generate an error value; mathematically combining the error value and the torque reference value to generate a torque command value; and using the torque command value to control the machine; wherein the step of obtaining feedback currents includes obtaining d and q-axis feedback currents, the step of mathematically combining the d and q-axis feedback current values to generate an error value includes mathematically combining the feedback current values to generate a torque estimate value and subtracting the torque estimate value from the torque reference value to provide the error value, the step of using the torque command value to control the machine includes generating a q-axis command voltage value as a function of the torque command value and using the q-axis command voltage value to drive the machine.