 This paper proposes two different methods for controlling a PMSM drive in order to reduce energy consumption. The first method uses energy optimization theory, which provides analytic solutions for the control problem. The second method modifies the optimal speed trajectories to match a trapezoidal or triangle shape, allowing for more efficient energy usage. Both methods can be used to optimize the energy efficiency of a PMSM drive. This article was authored by Jan Vitek and Brannis Lyftorek.