This article appeared in a journal published by Elsevier. The attached copy is furnished to the author for internal non-commercial research and education use, including for instruction at the authors institution and sharing with colleagues.Other uses, including reproduction and distribution, or selling or licensing copies, or posting to personal, institutional or third party websites are prohibited. The most common control technique for such PMSM MC-fed drives is the so-called Field-Oriented Control (FOC), which requires the permanent magnet flux position to achieve high dynamic performance. Encoders or resolvers are the most common sensing devices used for such a purpose, which not only increases the total cost of the PMSM drive but also adds extra electronics and cabling that may cause failures. This paper investigates and proposes an all range (from zero to full) speed hybrid sensorless FOC. The novelty of this paper relies on the use of a hybrid sensorless four quadrant FOC that averages the needed angle estimation from a model based angle estimator and a voltage pulse test injection angle estimator when feeding the PMSM with an MC instead of a standard voltage source inverter. Speed reversal and load impact simulation results are included, fully supporting the claims made in this paper.