A method of controlling an electrical machine that includes commutating a phase winding of the electrical machine at a time T_COM(1) after a first edge and at a time T_COM(2) after a second edge of a rotor-position signal. T_COM(2) is defined by the equation: T_COM(2)=T_COM(1)+T_AVE−T_PD, where T_AVE is an average period between edges of the rotor-position signal, and T_PD is the period between the first and second edges. Additionally, a controller and control system that implement the method.