A system for controlling a motor (3) includes a driver circuit (5) for generating a drive voltage (v) to generate a phase current (i) in the motor. Phase current sensing circuitry (10,21) digitizes the phase current. A first circuit (23) provides a reconstructed digital representation of a BEMF signal (vbemf) of the motor to generate an error-corrected synchronization signal (SYNC) in response to the phase current and a detected error in the motor speed, an amplitude feedback signal (15), and information (iR,iL,ΔiL,vL) indicative of a resistance (Rm) and an inductance (Lm) of the motor. A motor drive signal (15) having an error-corrected frequency is generated in response to the synchronization signal. A PWM circuit (16) produces a PWM signal (17) having a frequency equal to the error-corrected frequency of the synchronization signal (SYNC) and a duty cycle controlled according to the detected error.