Modern electric drives are used extensively in industrial applications to perform a mechanical maneuver for a given load. In addition, they have other widespread applications, ranging from robots to automobiles to aircraft. Recent advances in the design of electric drives have resulted in low-cost, lightweight, reliable motors. Moreover, advances in power electronics have resulted in a level of performance that was not possible a few years ago. For example, induction and synchronous motors were never used in variable-speed applications until variable frequency and rapid switching were...