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In this paper, a constrained optimization based approach is proposed for the switching control of inverters. This method achieves the best tracking performance of three phase currents, or equivalently the best tracking of torque command. This approach may be viewed as an improved SVM (space vector modulation) method. Detailed performance analysis and simulation prove that in the overmodulation region, a relative ratio of improvement up to 1/radic3 and an absolute improvement up to E/R (1 - e- RT/L) are achieved over SVM. Meanwhile, the computation complexity is the same as SVM.