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To address the issue of poor real-time performance caused by the heavy computational burden of the finite control set model predictive torque control (MPTC) of a permanent magnet synchronous motor (PMSM), a data-driven control method using a deep neural network (DNN) is proposed in this paper. The DNN can learn the MPTC’s selective laws from its operation data by training offline and then substitute them for voltage vector selection online. Aiming to address the data-driven runaway problems caused by the asymmetry between the dynamic and static training data, a hybrid decision control strategy based on DNN and DTC (direct torque control) is further proposed, which can realize four-quadrant operation with a control effect basically equivalent to MPTC. The proposed strategy has great application potential for use in multi-level inverter and matrix converter driving with multiple candidate voltage vectors or multi-step prediction.