In FOC, How does the Iq/Id is converted to Vq/Vd?

Hi everyone,

I found the section 12.8.2 of  spruhj1c.pdf explains how to covert Iq to Vq. There are two equation have been used in this conversation, Iq (R+DLs) = Vq-w(LsId+Ke), Id(R+DLs) = Vd + wLsIq, on page 321.

But the example code don't embody these term as above.  

Could you give me any hints? Thanks!

Eli