A laundry treating appliance includes a drum at least partially defining a treating chamber for receiving a laundry load for treatment according to a cycle of operation, a motor operably coupled with the drum to rotate the drum, a controller coupled to the motor for controlling the motor and for determining at least one input sensed from the motor, and a processor operably coupled with the controller and having a parameter estimator to estimate parameter values of a laundry load based upon the at least one input. The processor is configured to send an excitation signal to the controller that randomly fluctuates an acceleration command to affect acceleration of the motor while the parameter values of the laundry load are estimated. The cycle of operation can then be adjusted based on the estimated parameter values of the laundry load.