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Synchronous reluctance (SyR) motors are well suited to a zero-speed sensorless control, because of their inherently salient behavior. However, the cross-saturation effect can lead to large errors on the position estimate, which is based on the differential anisotropy. These errors are quantified in the paper, as a function of the working point. The so-calculated errors are then found in good accordance with the purposely obtained experimental measurements. The impact of the amplitude of the carrier voltage is then pointed out, leading to a mixed (carrier injection plus electromotive force estimation) control scheme. Last, a scheme of this type is used, with a commercial transverse-laminated SyR motor. The robustness against cross-saturation is shown, in practice, and the obtained drive performance is pointed out proving to be effective for a general-purpose application.