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This paper describes a self-sensing control scheme based on pulse-voltage-injection for permanent-magnet synchronous machines (PMSMs). Multiple saliencies, as well as the saturation and reluctance-based coupling effects, are studied by means of analytical methods, and are proved with finite element method simulations and measurements. These phenomena cause a constant estimated error of the rotor angle, as well as periodic errors with harmonics of order 6 k. The primary saliency of the considered interior PMSM with concentrated windings is strongly dependent on the load, so that the self-sensing capability disappears at some critical operating points. In this study, the parameters of the multiple saliencies are identified based on the proposed self-sensing method. The secondary saliencies are compensated with a closed loop control structure. The effectiveness of the proposed method is confirmed by experimental results. [ABSTRACT FROM PUBLISHER]