A switching module switches between receiving a first output from a sensor and a second output from a sensor-less position detection module each indicating a rotor position error of a motor. A position determining module determines a rotor position of the motor based on an output of the switching module and generates a control signal to control a parameter of the motor. A sample and hold module operates on a sum of the output of the switching module and an output of the sample and hold module from a prior instance of switching between the first and second outputs. The position determining module scales the output of the sample and hold module using first and second gains to generate first and second scaled outputs, and generates the control signal based on the output of the switching module and the first and second scaled outputs.