Abstract: This paper proposes a Torque Sharing Strategy (TSS) to distribute the reference torque between the Switched Reluctance Motor (SRM) phases and reduce the torque ripple. The conventional Torque Sharing Functions (TSF), combined with a current profiling strategy, generate a current reference, and the torque ripple reduction is associated with torque or current tracking performance. Due to the limited DC supply voltage, the inductance profile, and the back-electromotive force, tracking the reference current during phase magnetization and demagnetization is challenging. Further, a large current tracking error increases the torque ripple. A full-state Integral Linear-Quadratic Regulator (ILQR) is proposed for speed and current control. It provides a fixed switching frequency and suitable performance for a wide operation range. The obtained simulation results validate the proposed ILQ R - TSS controller and the design procedure Ver menos