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The problem of high-precision position control in switched reluctance motor (SRM) drives is investigated in this paper. Advanced proportional-integral and proportional-differential controllers for speed and position controls, respectively, are adopted. A gain-scheduling technique is adopted in the speed controller design for providing high dynamic performance and precise position control. In order to improve the set-point tracking, a low-pass filter is included in the position controller. The proposed four-quadrant control scheme is based on the average torque control method. The turn-on and turn-off angles are online determined through simple formulas so as to reduce the torque ripple at an acceptable level over a wide speed range. This is important since the position precision is highly influenced from the motor torque ripple. Experimental results of the SRM dynamic response are presented to verify the theoretical considerations and to demonstrate the effectiveness of the proposed control scheme.