Optimal Current Waveforms for Switched-Reluctance Motors
  In this paper, we address the problem of finding current waveforms for a switched reluctance motor that minimize a user-defined combination of torque ripple and RMS current. The motor model we use is fairly general, and includes magnetic saturation, voltage and current limits, and highly coupled magnetics (and therefore, unconventional geometries and winding patterns). We solve this problem by approximating it as a mixed-integer convex program, which we solve globally using branch and bound. We demonstrate our approach on an experimentally verified model of a fully pitched switched reluctance motor, for which we find the globally optimal waveforms, even for high rotor speeds. 
Nicholas Moehle and Stephen Boyd
cs.SY