A method of controlling a brushless permanent-magnet motor that includes sequentially exciting and freewheeling a phase winding of the motor is provided. The phase winding is freewheeled when the phase current exceeds an upper threshold. The method further includes measuring a parameter that corresponds to either: (i) the magnitude of the phase current during or at the end of freewheeling when the phase winding is freewheeled for the fixed period of time, or (ii) the time interval during freewheeling or during excitation when the phase winding is freewheeled until the phase current falls below the lower threshold. The measured parameter is then compared against a saturation threshold, and the rotor is determined to be at a predetermined position. In response to determining that the rotor is at the predetermined position, the phase winding is commutated after a commutation period has elapsed.