Space Vector Modulation
There is a whole bunch of information at Texas Instruments InstaSPIN including white papers as well as product data and application notes [NB: I do not work for TI and do not benefit from posting this]

There are 5 videos of a Texas Instruments training course at YouTube called "Teaching Old Motors New Tricks"
IIRC, The first three deal with BLDC motors, and modelling those systems, and the last two, other systems.

They have also uploaded a series of Control Theory videos, but it sounds like you understand that stuff.

It is often possible to do a specific, fixed algorithm in hardware. For example, you could implement using an FPGA. 

However, if you watch the TI videos, one of the speakers says that in the 90's, some microcontrollers came with specialised vector space support hardware. However he goes on to say, it was proven in 1996 that centre-aligned PWM provided equivalent benefits, so manufacturers stopped including that specialised hardware.

Now the problem you are considering may be more complex, so I would recommend watching the video, or reading the paper, and deciding for yourself.