Methods and systems for applying adaptive thermal compensation when operating a rotor of a motor are provided. The method includes: receiving a plurality of parameter data of torque and temperature of the rotor and current and voltage of the motor by a region determination module; calculating, by the region determination module from the set of parameter data, a cosine value to determine a region for applying the adaptive thermal compensation wherein the cosine value is calculated from a constant torque direction vector and a voltage limit eclipse vector derived from a functional relationship of the one or more parameter data; and applying, by a reference modification module, a modification value to incrementally modify the motor current when the motor is operating within the region determined by the region determination module for the adaptive thermal compensation.