This paper proposes the control scheme of an original drive which is made up of two 5-phase permanent magnet synchronous machines (PMSM) connected in series. Even if the Electro-Motive Forces (EMF) are trapezoidal, it is possible, by using a special series connection between the two machines and by implementing a special vector control, to impose independent torques and speeds with a single fiveleg Voltage Source Inverter (VSI). If special series-connection with classical vector control is sufficient to achieve flux/torque decoupling when the EMFs are sinusoidal, it is necessary to modify the control scheme when the EMFs are not sinusoidal. Simulations and experimental results demonstrate the efficiency of the independent control of the two 5-phase synchronous machines connected in series, and the efficiency of the proposed improved control for different loads.