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The problem of choosing the firing angles for accomplishing maximum efficiency in single-pulse controlled switched reluctance motor drives is investigated. The suggested method is based on the optimal control of flux-linkage, through the firing angles, according to load torque requirements and depending on rotor speed. A controller that determines online the optimal turn-on and turn-off angles is proposed. The suggested controller does not affect the complexity of the drive and it is easily implemented, since knowledge of magnetization curves is not required. Moreover, it provides smooth transition between optimal single-pulse and pulse width modulation (PWM) current control modes and thus, optimal performance of the switched reluctance motor drive is attained over the entire speed range. Simulation and experimental results are presented to validate the resulting improvements of the proposed control scheme.