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Torque ripple minimization in permanent-magnet synchronous motors is traditionally achieved either by special motor design or by an adequate control of the driver. Due to motor-driver interactions, the choice of driver or motor design must consider the respective performance of each. The approach presented provides appropriate current shapes for driving a given motor without torque ripple and/or appropriate back-EMF shapes for a given current or voltage supply. Reluctance torque, due to the interaction between the rotor magnets and the stator slots, is also taken into consideration.>
Favre et al. (Fri,) studied this question.