A professional motor control system (Kevin Lynch)

For more information, see nu32.org. This video is a supplement to the book "Embedded Computing and Mechatronics with the PIC32 Microcontroller," Lynch, Marchuk, and Elwin. It is part of Northwestern University's ME 333 Introduction to Mechatronics.
L-comp: For the frequencies given in the video, how many times does the PWM duty cycle update between updates of the current command? How many cycles of PWM are there between updates of the PWM duty cycle?