In this paper, a universal controller for switched-reluctance motor (SRM) is proposed. The controller is considered to be universal because it minimizes torque ripple, maximizes the efficiency and torque production using simple operations. A combination of direct torque control in one phase and current control in another phase is proposed and implemented in a way that minimizes the torque ripple and maximizes the efficiency while being robust. Moreover, torque maximization is achieved by introducing the demagnetization curve which ensures that the phase currents are demagnetized at an optimum angle such that maximum torque is produced without any negative torque generation. The validity of the proposed controller is verified through simulation studies.