“…Thereby it is ensured that the current flowing through S s [a,b,c] can be redirected. Next, switches S [a,b,c] [3,4,5,6] start switching in the same manner as S [a,b,c] [7,8,1,2] , respectively. The time required to execute the whole transition sequence depends mainly on the turn off time of S s [a,b,c] , and the time required to start driving and controlling S [a,b,c] [3,4,5,6] such that the currents of the two coils per phase are equal.…”