**6. Summary**

Tables 1 and 2 show the detailed conclusion for the comparative study. As concluded from Table 1, the DITC shows the best overall performance because it has a less complex control algorithm, does not have a torque inverse model, provides a fast dynamic torque response, and has a dynamic torque response, which is the requirement of torque inverse model.





Table 2 provides a comparison regarding the peed ranges. In conclusion, for low speeds, the DITC provides the lowest torque, the highest torque/current ratio, the lowest flux derivatives, and the highest efficiency. However, it has a moderate value for the THD of phase current; it also has a higher switching frequency (<10 kHz) but still within the applicable range.

On the other hand, for high speeds, the ATC can provide high average torque production. It also shows the minimum torque ripple. Moreover, it has the highest torque/current ratio, the lower THD of phase current, and the highest efficiency. However, it has a higher switching frequency and higher flux derivatives.
