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This paper compares two types of direct torque controllers for permanent magnet synchronous motors(PMSMs). These controllers both use a single-chip FPGA(Field Programmable Gate Array) but have differing hardware configurations. One of the controllers was constructed by programming a soft-core CPU and hardware logic circuits written in VHDL(Very high speed IC Hardware Description Language), while the other was constructed of only hardware logic circuits. The characteristics of these two controllers were compared in this paper. The results show the controller constructed of only hardware logic circuits was able to shorten the control period and it was able to suppress the low torque ripple.