Accurate BLDC Modeling and Interleaved Control for Multi-Motor Powertrains With Improved FOC to Mitigate Battery Current and Torque Ripples. - Murat Karabacak; Dino Hrvanovic; Eymen Ipek; Elena Blazhevska; Niels Köster; Hannes Haberl; Guenter Prochart (IEEE Access, 2025)