torque control 120-electrical degree alternating current. amplitude angular velocity Brand brushed direct current motors Brushless brushless direct current motor Commutation logic circuitry conduction C-phase winding Current current DC high voltage transportation desing direct current drivers Duty cycle Duty cycle dynamic performance dynamic response electric motors electromotive force electronics electronics devices fewer harmonic fifth step frequency drives Hall-effect magnetic sensors induction motors Inverters less torque ripple linear torque-speed modulation technique motor drivers noiseless operating output voltage permanent magnet permanent magnet synchronous motor Phase current Phase current Phase current phase windings phase windings position sensor power switch pulse Rated current Rated speed Rated torque Rated Voltage rectangular alternate voltage shaft Shaft Power Shaft Power signals sinusoidal back electro motive sinusoidal current sinusoidal encoder smooth operation solar energy systems speed stator stepper motors switching power supplies synchronous motors Testing three-phase six- step inverter Torque transistors voltage voltage applied voltage applied wind energy systems winding