row 
           \begin{bmatrix}
                v_d \\ 
                v_q
           \end{bmatrix}
           =
           \begin{bmatrix}
               R & -\omega L \\
               \omega L & R 
           \end{bmatrix}
           \begin{bmatrix}
                i_d \\ 
                i_q
            \end{bmatrix}
        \end{equation}
        
        Solving the system for the current:
        
        \begin{equation}
            \begin{bmatrix}
                i_d \\ 
                i_q
      