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For my first PMSM drive model based on DTC, I utilized stator resistance Rs to measure the flux. Although the model is simple, it is important to note the various factors that must be taken into consideration when designing such a model. One such factor is the magnetic saturation of the motor. Magnetic saturation is a phenomenon in which the magnetic field inside the motor becomes so strong that the magnetic material can no longer hold any more magnetic energy, resulting in a decrease in the motor's efficiency. Another important factor to consider is the nonlinearity of the motor. PMSM drives are highly nonlinear systems and must be accurately modeled to ensure efficient and safe operation. Therefore, it is crucial to consider these factors and others when designing PMSM drive models based on DTC or any other method.