A system includes a timer to determine a time interval between successive commutation state changes of a brushless direct current (BLDC) motor. A speed calculator computes a speed of the BLDC motor based on the time interval. A threshold calculator determines a threshold based on the computed speed, the threshold specifying a calculation of back electromotive force (BEMF) and mutual inductance of the BLDC motor at a next state change of the BLDC motor. A state change trigger commands the next state change based on a measured voltage associated with a floating phase of the BLDC motor relative to the threshold.