30, no. 9, pp. 5036-45, in responses to a few inquiries made by audiences. It is shown that due to parameter variations with stator currents, any technique for MTPA tracking based on piecewise constant parameter assumption, i.e., the machine parameters are assumed as constants during the calculation of , would result in tracking error even though the machine parameters are obtained from lookup table or online machine parameter estimations. The error is dependent on machine non-linear characteristics and operating conditions. It is also shown that for the prototype IPMSM the virtual signal injection control (VSIC) technique described in the paper yields a better tracking accuracy.Index Terms-maximum torque per ampere (MTPA), signal injection; virtual signal injection control (VSIC), interior permanent magnet synchronous machine (IPMSM) drives