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It’s essential to obtain the initial rotor position of PMSM to prevent the reversal of the rotor and to ensure the maximum electromagnetic torque output during the startup process. An improved pulse-voltage injection-based initial rotor position estimation method is proposed in this paper. Different from the conventional pulse-voltage-injection-based method that only utilizes the information about the virtual d-axis current for the voltage vector injected to PMSMs, the information about the virtual q-axis current is also utilized in the proposed method to reduce the estimation errors caused by the current sampling errors. The experimental results indicate that the estimation accuracy can be greatly improved.