Simple Linearization Approach for MPC Design for Small PMSM with Field Weakening Performance∗∗This work was supported by Technology Agency of the Czech Republic under the project TE01020197 “Centre of Applied Cybernetics 3”.The completion of this paper was made possible by grant No. FEKT-S-14-2429 - “The research of new control methods, measurement procedures and intelligent instruments in automation”, and the related financial assistance was provided from the internal science fund of Brno University of Technology.