for several papers dealing with PMAC Motor Control, e.g.
J54. Sun, D. and Mills, J.K., "Torque and Current Control of a High Speed Motion Control System With Sinusoidal PMAC Motors, Special Issue of IEEE/ASME Trans. on Mechatronics, Accepted October, 2001.
The PMAC is a Delta-Tau product and many people use them here in the Midwest. Very powerful controller and very competetive but lack the drives, motors and mechanics. visit