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To compensate voltage difference between the reference and the actual output voltages caused by dead-time effects, a novel compensation method for permanent magnet synchronous motor (PMSM) direct torque controlled (DTC) drive based on neuro-fuzzy observer is proposed. This method presents the implementation of a voltage distortion observer based on the artificial neural network (ANN). Using the output of the fuzzy controller (FC1), online training is carried out to update the weights and biases of the ANN. To reduce torque and flux linkage ripples, another fuzzy controller (FC2) is adopted to replace the conventional hystersis controller. The proposed control scheme combines the capability of fuzzy reasoning in handling uncertain information and the capability of neural network in learning from processes. Results of simulations and experiments are provided to demonstrate the effectiveness of the proposed method even under the occurrence of different reference speed and load torque.