Current-controlled PWM inverters in drive systems with brushless dc motor

The topic I propose is:" The speed and torque controlled drive-systems with brushless dc motors, supplied from a current-controlled voltage-inverter" Details:

1.The motor is a three-phase (star or delta connected), with rotor permanent magnet excitation , and a resolver or an encoder as rotor angular position transducer .

2. The voltage inverter is with transistors and free-wheel diodes, it is supplied from a constant dc source and there are current transducers for the motor's stator supplying currents .

3. The speed and torque control system is in a two-loops cascade structure, with speed feedback.

I am searching for a clear, coherent, didactic, but recently up-dated and comprehensive presentation of basic principles and block diagrams for the most frequently utilized implementations of the vector current-control: two solutions are of particular interest, (both in the analogical and the digital variants):

1. using current-comparators with hysteresis band (of the relay, "bang-bang" type) , respectively,

2. using a PWM current control strategy with a PI controller delivering the reference voltage, which is then compared with a triangular wave of fixed frequency and amplitude.

Where can I find such a presentation?

Thank you all in advance.