Motors don't run at a constant voltage with command control. AAMOF, the voltage the motor sees with command or conventional at the same speed should be pretty much the same voltage, think about it. I seriously doubt the waveform has that much to do with how hot the motor gets. The motor is a pretty large inductance and swamps out most issue with the non-sinusoidal waveform. The analysis I've seen attributes at most a few percent energy loss over pure DC with a PWM drive.
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