A method to control switch reluctance motors (SRM) in the dq rotating frame is proposed in this paper. The torque per phase is represented in this paper as the product of sinusoidal inductance related term and sinusoidal current term in the SRM controller. The SRM controller works with variables similar to that of synchronous machine (SM) controller in dq reference frame which allow the torque to be shared smoothly among different phases. The proposed controller provides efficient operation over the entire speed range and eliminates the need for an angle decoder. The controller achieves low torque ripple at low speeds and can apply phase advancing using a mechanism similar to the flux weakening of SM to operate at high speeds. The effectiveness of the proposed controller is verified through coupled finite element and circuit simulations.