A method is described for estimating a position of a rotor in a synchronous electric machine having a rotor. The method has the steps of: inputting the initial rotor angle into a power converter, injecting a first voltage waveform with a first fundamental frequency into the power converter,—injecting a second voltage waveform with a second fundamental frequency into the power converter, the second voltage waveform being offset with an offset angle δθ, determining a resulting second axis current in the power converter at the second fundamental frequency, adjusting, for each torque value, the offset angle δθ so that the resulting second axis current at the second fundamental frequency becomes zero, and estimating the position of the rotor based on the plurality of offset angle values.