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This paper presents FPGA based System-on-Chip (SoC) design of sensorless field oriented controller for Surface Mounted Permanent Magnet Synchronous Machine (SMPMSM). IIR filters are designed to realize the alternating high frequency injection sensorless control technique. Using model based design, by the tools of MATLAB/Simulink and Simulink HDL Coder, the whole control system is designed and implemented in a single chip. The proposed controller exploits the fast computation and flexibility of FPGA. Experimental results demonstrate that the developed sensorless controller has high performance when the machine is at low and zero speed.