1. A switched reluctance machine (SRM) system, comprising: a SRM having field coils that define a plurality of phases and a rotor having at least two poles; a controller for generating current command signals, the controller connected to receive a torque command, a turn-on angle, a turn-off angle, monitored phase currents and the monitored rotor position, wherein the controller calculates a base current command based on the torque command, estimates instantaneous torque of the SRM based on the monitored phase currents and the monitored rotor position, wherein the controller generates the current command signals by modifying the base current command based on a calculated difference between the estimated torque and the torque command value, and further modifies the base current command using a multiplier value that varies with respect to the monitored rotor position to provide a smooth phase-to-phase transition; and a driver connected to provide phase currents to the field coils of the SRM based on the current command signals received from the controller.