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For a 50kw motor I would definitely go with the space vector modulation and the field oriented control (clarke and park like thingstodo was saying). Then you can control the torque of the motor rather than the speed, which I think is better for driving around. The toyota mgr is also a highly "salient" motor, which means you need negative Id in order to get the maximum torque per amp, and the amount of Id varies as a function of the torque command.
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