Transport electrification is leading to an impressive development of electric drives using permanent magnet synchronous motors (PMSMs) and induction motors (IMs). According to this trend, impressive research efforts to develop torque control schemes characterized by high performance, easy to tune, and able to deal with saturated machines have been made in recent years. Moreover, these control solutions must guarantee a linear torque regulation for the entire speed range, including the deep flux-weakening (FW) operation with maximum torque per volt (MTPV). Currently, the control of the torque is mostly based on vector control schemes using inner current control loops whose references are in many cases provided by multi-dimensional calibrated maps to linear the torque regulation.