Voltage vs. Currant Control

Hello Community,

I wonder if someone can explain if there is any efficiency boost when using current control (and current Sensors) vs. voltage based control ?
From what I understood, one advantage is more precision in torque measurements at higher RPM, but apart from that, is the efficiency somehow also benefiting from using true current control / sensors ?

My setup currently is quite basic, but if there is a gain in efficiency, I would like to spend some extra effort and implementing current sensors onto my PCB.

looking forward to some feedback :wink:

Lovely weekend to everyone !