Field-Oriented Control (FOC); Generalized Proportional Integral (GPI) controller; Permanent magnet synchronous motor (PMSM) Control techniques; Current controller; Experimental comparison; Field-oriented control; Permanent Magnet Synchronous Motor; Proportional integral; Reference control; Voltage signals; Automation; Control; Controllers; Electrical engineering; Process control; Synchronous motors; Two term control systems; Permanent magnets