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 In this paper, a new way of deriving the magnitude of voltage reference is proposed for predictive torque control (PTC) of permanent magnet synchronous motor (PMSM). The conventional PTC uses equations to analyse the relationship between the electrical torque and voltage with a fixed reference voltage magnitude. As a result, flux and torque ripples increase significantly at low speed operation. This study proposes a simple mathematical equation to minimize torque error, calculate an appropriate reference voltage, and hence establish a better performance at low speed. Improved steady-state performance of the proposed method is proved by the simulation results.