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Since the efficiency is very important in automotive applications, in this paper a new minimum-copper-loss control scheme, over full speed range for an IPMSM drive used for hybrid electric vehicle application under both current and voltage limits is presented. This paper presents an algorithm to get the smallest current vector command in both field-weakening and deep field-weakening regions for a certain amount of torque. Furthermore, this control scheme is robust to dc-link voltage and load torque variations. Moreover, no machine parameters are required in field-weakening control mode. Finally, the simulation results demonstrate the feasibility and performance of the proposed technique.