A method for identifying a mechanical impedance of an electromagnetic load may include generating a waveform signal for driving an electromagnetic load and, during driving of the electromagnetic load by the waveform signal or a signal derived therefrom, receiving a current signal representative of a current associated with the electromagnetic load and a back electromotive force signal representative of a back electromotive force associated with the electromagnetic load. The method may also include implementing an adaptive filter to identify parameters of the mechanical impedance of the electromagnetic load, wherein an input of a coefficient control for adapting coefficients of the adaptive filter is a first signal derived from the back electromotive force signal and a target of the coefficient control for adapting coefficients of the adaptive filter is a second signal derived from the current signal.