34. Method according to claim 32, comprising the step of determining unconstrained axis-wise corrections as a fraction of the maximum correction by the following equation: 35. Method according to claim 34, comprising the step of determining constrained axis-wise current corrections by applying the following saturation and correction equations Kqd is a positive tuning gain that may be used to transfer to the d-axis part of the correction originally computed for the q-axis, when saturation occurs, idunc and iqunc are said axis-wise current corrections . wherein: 36. Method according to claim 35, comprising the step of modifying said current references according to the following equations: 37. Method according to claim 22, wherein