This example shows how to use a Permanent Magnet Synchronous Motor (PMSM) to amplify driver-applied force in a power-assisted automobile steering system. The steering wheel angular velocity represents the input from the driver. The inputs to the PMSM controller are the angular difference from one end of the steering column to the other and the velocity and angular displacement of the steering load. The PMSM Inverter is idealized. You can see voltage and current waveforms on the Inverter Voltages & Currents Scope. Within the PMSM Driver, the PMSM Controller is a Model Reference block. If you have a Simulink® Coder™ or Embedded Coder® license, you can generate code directly from the PMSM Controller referenced model. The plot below shows the driver, power assist, and total torque waveforms.