A system and method for improved anti-windup that minimizes supply current draw under voltage saturated current control operation of synchronous motor drives are provided. The system and method use a voltage limiting module configured to receive a pre-limit voltage command and generate a post-limit voltage command when the motor control system reaches configured threshold; and an anti-windup module configured to determine a voltage difference between the post-limit and pre-limit voltage commands, and compute an anti-windup feedback current using the voltage difference and compensation gains selected to minimize supply current. The compensation gains comprise a gain matrix of values selected to move a motor current trajectory toward a null motor current vector, and the anti-windup module multiplies the gain matrix values by the voltage difference. The anti-windup feedback current and an input current command are then added and provided as an input to the controller.