Concurrency control 1 Controllers 1 Dynamic performance 1 Electric drives FPGA 1 Field programmable gate array 1 Field programmable gate arrays (FPGA) 1 Field programmables 1 Legged robots 1 Logic gates 1 Motor drive 1 PMSM 1 Permanent magnets 1 Predictive control 1 Programmable gate array 1 Servo-motor 1 Synchronous motors 1 Torque 1 Torque control 1 Torque predictive control 1 motor drive 1 torque predictive control 1