A washing machine includes a cabinet, a tub mounted within the cabinet, and a basket rotationally mounted within the tub for relative rotation therewith. A suspension assembly supports the tub within the cabinet. A variable speed motor is included for rotating the basket about a rotation axis, and an inverter is operatively coupled to the motor. A controller is operatively coupled to the inverter and the motor and is configured to control the motor based on a drag torque on the basket.