Direct Torque Control (DTC) is an optimised AC drives control principle where inverter switching directly controls the motor variables i.e. flux and torque. The measured motor current and voltage are inputs to an adaptive motor model which produces an exact actual value of flux and torque every 25 microseconds. Motor torque and flux two-level comparators compare the actual values to the reference values produced by torque and flux reference controllers. Depending on the outputs from the two-level controllers, the optimum pulse selector directly determines the optimum inverter switch positions. The inverter switch positions again determine the motor voltage and current, which in turn influence the motor torque and flux and the control loop is closed.