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In this paper, a novel approach to design a self reconfigurable electric motor controller for hybrid electric vehicle application is proposed. This system detects the current sensors failure and will estimate the current successfully such that the motor continues working safely. The motor model is used for estimating the currents. The phase currents are estimated using Luenberger type observer. The state space equations in this study have been decoupled and linearized using the feedback linearization technique. Hall sensors which have the resolution of 60 degrees have been used instead of high resolution position sensors. The proposed method has been simulated in Matlab/Simulink under different speed commands and different load torques. The results show the excellent performance of the developed method. The developed observer can also successfully stand for the current sensors during the whole operating time. The proposed drive is implemented on a three phase, four pole interior permanent magnet (IPM) motor and the Texas Instruments TMS320LF2407 digital signal processor is used for performing the digital control algorithm. Experimental results show the successful operation of the proposed system.