A commutation torque ripple is generated in a brushless DC motor due to a finite time taken for current transfer between outgoing phase and incoming phase due to the phase inductance. The effect of commutation ripple will be more severe for low voltage high current BLDC drives used for automotive applications. Direct Torque Control (DTC) techniques are used to reduce the torque ripple. https://chefesquipmenters.shop/product-category/muffin-pans/