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A novel control algorithm devoted to remove undesired low-order current harmonics in AC motor drives is presented in this article. The proposed control algorithm combines a suitable multiple reference frame synchronous harmonic estimator and multiple reference frame vector control implementation to suppress the undesired harmonics contained in the motor stator currents. This control technique can handle positive-, negative-, and zero-sequence sets, keeping a satisfying dynamic behavior. The control technique has been evaluated by numerical simulations and experimentally tested on a permanent magnet synchronous motor drive. [ABSTRACT FROM PUBLISHER]