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Control of electric drives requires transforming to dq-frame from a-b-c phase-domain. Most research literature and textbooks in this field treat dq-axis transformation of a-b-c phase quantities on a purely mathematical basis, without relating this transformation to a set of windings that could be visualized. The physics-based approach adopted in this book is different and unique - the author visualizes a set of representative dq windings along an orthogonal set of axes and then relates their currents and voltages to the a-b-c phase quantities. This physics-based discussion follows seamlessly from the treatment of space vectors in the author's previous Wiley publications.