One embodiment of the method includes setting up a testing architecture where the testing architecture includes a test IPM machine having an output shaft coupled to an output shaft of a secondary speed control machine. The method further includes controlling the secondary speed control machine to drive the output shaft of the test IPM machine at a first desired speed, determining a pair of desired direct and quadrature axis currents for each of a plurality of peak current magnitudes, and recording characterization data associated with each pair of desired direct and quadrature axis currents. The controlling, determining and recording steps for each of a second through nth desired speeds may be repeated. Control lookup tables for operation of an IPM machine may be generated from the characterization data.