position and (in simplified outlook) separates reactive current (i<sub>D</sub>)
from the active current (i<sub>Q</sub>) resulting in torque affecting rotor
movement. The simplified diagram of PMSM motor control ins included for ilustration
-(source <a href="https://www.pxmc.org/">PXMC</a> library documentation).
+(source <a href="http://www.pxmc.org/">PXMC</a> library documentation).
</p>
<h2 id="hardware">Hardware</h2>