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in this video were going to talk about field oriented control which is also referred to as FOC well discuss why we use a 4c and the Clark and PARCC transforms that are required to implement an FOC algorithm in the previous videos we discussed how BLDC motors work and how we spin them using six step commutation or trapezoidal control one of the drawbacks with this type of control are the ripples that we observe in the speed and torque responses of the motor here the cyan and magenta vectors show us how the magnitude and direction of the rotor and stator magnetic fields change during six-step commutation of a BLDC motor we clearly see that the angle between the stator and rotor magnetic fields fluctuates between 60 and 120 degrees this is the reason behind the speed and torque ripples it also prevents us from getting the maximum torque which occurs when the Phils align at 90 degrees we overcome the shortcomings of the six-step commutation with field oriented control on PMS or motors h