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During the last decade, many sensorless control methods have been proposed for surface permanent-magnet synchronous motors (SPMSMs) based on the estimation of electromotive force (EMF) in which the motor's position information is contained. However, these methods cannot be applied to interior PMSMs (IPMSMs) directly, because the position information is contained in not only the EMF, but also the inductance of stators. In this paper, a new mathematical model for IPMSMs is proposed and an extended EMF is defined, which includes both position information from the EMF and the stator inductance. By using the newly proposed model, sensorless controls proposed for SPMSMs can easily be applied to IPMSMs. As an example, a disturbance observer is studied and the experimental results show that the proposed method on the proposed model is very effective.