Anyways the key idea is normally when controlling a motor you are having to regulate the different poles if the motor oscillating up and down as the more spins. Controlling ossification like that is hard. By using the Clarke transform you can transform the frame of reference into the torque vector of the motor. You want this to be a constant value as the motor is spinning, which is much easier to control.
https://www.maccon.de/fileadmin/redaktion/downloads/Produkte...
I wish I had a more official link.
Anyways the key idea is normally when controlling a motor you are having to regulate the different poles if the motor oscillating up and down as the more spins. Controlling ossification like that is hard. By using the Clarke transform you can transform the frame of reference into the torque vector of the motor. You want this to be a constant value as the motor is spinning, which is much easier to control.