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This paper proposes an online compensation strategy for the unwanted disturbance voltage resulting from the zero- current clamping effect for high-frequency-signal-injection-based sensorless control schemes. We derive an analytical model that reveals intrinsic characteristics of the zero clamping effect for high- frequency signal injection. The model in this form is subsequently incorporated into the development of a specialized offline commissioning test to find motor inductances and a voltage distortion factor. From the sensitivity analysis of the effect on magnetic saturation, we confirm that the compensation error due to saturation has little negative impact on the proposed compensation method. The compensation result leads to an accurate position estimate in the zero-current clamping region. The proposed scheme does not rely on a complicated lookup table. Experiments demonstrate the superiority of the proposed method in suppressing the voltage distortions caused by the zero-current clamping effect.