Now that it's been running for a few months (not continuously O_o) and seems to work with at least four different motors (scooter, scooter, LEAF, RC car), I'm more confident in pitching the simplified/streamlined field-oriented control setup at work in the 3ph Duo controller. But I totally understand that very few people will want to read the poorly-written, incomplete-and-yet-overly-detailed 78-page draft documentation for the controller itself.
For a quick intro, you can check out these two posts:
3ph Duo Wrap-Up Part 1: Field Oriented
3ph Duo Wrap-Up Part 2: Control
Recently, I consolidated the important part, plus some new data, into a set of much more palatable PowerPoint slides (a la Balance Filter) which I'm hoping will find their way through the internet and into the hands of some motor control-types who would rather see the big picture than a detailed discussion of one particular implementation. It covers field-oriented control in general, the "standard" method, called the synchronous current regulator, and some modifications to the standard method that make it possible to run with Hall-effect sensored motors and on relatively slow fixed-point processors. It doesn't go into any detail on the software, just lays out enough that a competent embedded controls person could probably pull it off on an Arduino or something.
Consider that a challenge.