A method of connecting tubular components includes positioning a first tubular component at a surface location and a second tubular component at least partially disposed in a borehole to initiate a threaded connection, and rotating the first tubular component relative to the second tubular component by a tubular connection system, and during the rotating, measuring at least one of a rotational position of the first tubular component and/or a component of the tubular connection system, relative to the second tubular component, and a rotational speed of the first tubular component and/or the component of the tubular connection system. The method further includes measuring a torque, estimating a number of turns remaining to reach a target torque on the first tubular component, and controlling a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component.