[IEEE 2017 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM) - Donostia, San Sebastian, Spain (2017.5.24-2017.5.26)] 2017 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM) - Extended DQ model of a Permanent Magnet Synchronous Machine by including magnetic saturation and torque ripple effects