  Switched Reluctance Motors (SRMs) are cost-effective electric actuators that
utilize magnetic reluctance to generate torque, with torque ripple arising from
unaccounted manufacturing defects in the rotor tooth geometry. This paper aims
to design a versatile, resource-efficient commutation function for accurate
control of a range of SRMs, mitigating torque ripple despite manufacturing
variations across SRMs and individual rotor teeth. The developed commutation
function optimally distributes current between coils by leveraging the variance
in the torque-current-angle model and is designed with few parameters for easy
integration on affordable hardware. Monte Carlo simulations and experimental
results show a tracking error reduction of up to 31% and 11%, respectively. The
developed approach is beneficial for applications using a single driver for
multiple systems and those constrained by memory or modeling effort, providing
an economical solution for improved tracking performance and reduced acoustic
noise.
