Methods and apparatus for generating current commands for an interior permanent magnet (IPM) motor

In one aspect, an apparatus includes a motor and inverter configured to provide input power to the motor and a data store comprising at least one entry including a first torque command, a first motor speed, and a first DC voltage value. The first torque command and the first motor speed and the first DC voltage value are associated with a first current output. The apparatus includes a processor configured to receive a torque input, a DC voltage input, and a motor speed input and determine an output current associated with the torque input, the DC voltage input, and the motor speed input, correct the output current to be within a voltage constraint of the motor when the DC voltage input is than a reference voltage at the motor and output the corrected output current to cause the inverter to provide the input power to the motor.