A method for measuring current in each phase of a three-phase inverter driven motor is based on the three-phase inverter being controlled in a PWM mode by three PWM signals including the use of a common DC-link current sensing resistor. The current on the sensing resistor is intermittently sampled. The method includes determining a modulation index for the voltage demand set by a motor controller. Based on specific mutual duty cycle conditions of the three PWM phase driving signals, sampling windows of sufficient duration are created for allowing distinct sampling of two of the phase currents.