with the six available force vectors pp 1 u2212 pp 1 pp 2 u2212 pp 2 pp 3 u2212 pp 3 and the two force vectors that border the region containing the desired force are then chosen as the basis next the desired force is transformed from the x y basis to the basis containing the phase of the two vectors to be used u03b2 boundry 1 and u03b2 boundary 2 the transformation is performed using the following matrix this allows the two currents that make up the boundary to the region i ds boundary1 r i ds boundary2 r to be defined as follows i ds boundary u2062 u2062 1 r i ds boundary u2062 u2062 2 r p 1 u00b7 f x com currentstiffness f y com currentstiffness 9 where f x com and f y com are magnetic force bearing commands and current stiffness is a constant that determines the amount of force delivered to the rotor for 1 amp of current in this case it is 0 18 lbs a per fig6 this technique is used to generate various force commands the results can be seen in fig1 it should be noted that there may be some ripple in the.