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An on-line instantaneous torque control technique for a switched reluctance motor operating in the saturation region is presented. The proposed methodology is realised via the control of the instantaneous output torque of each excited phase by regulating its associated co-energy to follow a co-energy profile. As the parameters of the feedback controller are independent of the motor parameters in the analysis of the co-energy control system with the proposed methodology, the design of the proposed controller is simple when compared to that for traditional current controllers. Smooth shaft torque is obtained by torque sharing among the active phases during commutation. Simulation and experimental results confirm that the high-frequency torque ripple is reduced using the proposed algorithm.