An electric motor is controlled using a feedback signal that includes an error between the measured current and the estimated current determined using the measured current, the measured voltage, and a model of the motor. A feedback gain is determined as an error function of a feedback signal and a speed of the motor is estimated using a product of the feedback gain and the feedback signal. The voltage of the motor is determined using a difference between the estimated speed of the motor and a reference speed of the motor and the motor us controlled using the determined voltage.