**8. Conclusions**

This paper proposes a new method for constraints design for MTPA seeking techniques. This algorithm takes into account possible motor parameter variation due to operational conditions and deviation at the stage of production. The authors considered existing approaches to constraints design and experimentally compared performance of the MTPA-seeking algorithm with constraints designed according to existing and proposed algorithms. It was shown that the proposed method improves efficiency and dynamic operation of MTPA seeking techniques, especially for the motors, which operate in the saturation zone and whose MTPA curve significantly deviates from the MTPA trajectory calculated for the unsaturated parameters.

**Author Contributions:** Conceptualization A.D.; methodology A.A.; software A.D.; validation A.D. and A.A.; formal analysis A.D. and A.A.; investigation A.D.; resources A.A.; data curation A.A.; writing—original draft preparation A.D.; writing—review and editing A.D. and A.A.; visualization A.D.; supervision A.D.; project administration A.D.; funding acquisition A.A. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research is supported by the Russian Science Foundation gran<sup>t</sup> (Project №21-19-00696).

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** Not applicable.

**Conflicts of Interest:** The authors declare no conflict of interest.
