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The first half of Electric Motor Drives: Modelling, Analysis, and Control is dedicated to the rigorous mathematical modelling of various machines. The philosophy here is simple: you cannot control what you cannot model.
[ T_e = \frac32 \fracP2 \lambda_m i_qs ] Electric Motor Drives Modelling And Analysis Krishnan
[ T_e = \frac32 \fracP2 \fracL_m^2L_r i_ds i_qs ] The first half of Electric Motor Drives: Modelling,
Krishnan’s treatment of FOC (Chapter 8) is methodical: Electric Motor Drives Modelling And Analysis Krishnan
: Implementation of indirect vector control to achieve DC motor-like performance.