An adaptive torque disturbance cancellation method and motor control system for rotating a load are described. The system has: (i) a speed controller for receiving a first input signal indicating a desired motor speed and, in response, for outputting a motor control signal; (ii) current sensing circuitry for sensing current through a motor that rotates in response to the speed controller; (iii) circuitry for storing, into a storage device, history data representative of the current through a motor when the motor operates to rotate the load; and (iv) circuitry for modifying the motor control signal in response to the history data.