The object of the invention is a method of controlling a permanent-magnet synchronous or synchro-reluctant three-phase rotary machine (4), comprising the following steps:
measuring a current (iA, iB, iC) flowing through each phase of a stator of rotary machine (4);
first calculating, by use of a single proportional-integral controller, a switching control signal for controlling an inverter (10), according to each measured current (iA, iB, iC), and of a target value (Tref) of a mechanical torque provided by the rotary machine (4) or of a target value of an angular speed of a rotor of rotary machine (4) in relation to the stator wherein the inverter (10) is configured to convey electrical energy between a continuous electrical energy source (8) and each phase of the stator of rotary machine (4); and controlling the inverter (10) by use of the calculated switching control signal.