A control method for a brushless, three-phase DC motor. The motor may include a plurality of electromagnets and a rotor. A voltage induced by rotation of a rotor may be sampled at an expected zero crossing value to produce a first sampled voltage value. An average of a plurality of sampled voltage values, including voltage values sampled at a plurality of prior expected zero crossing values, may be calculated. A delta zero crossing error may be calculated. The delta zero crossing error may be calculated based on a difference between the first sampled voltage value and the calculated average. The plurality of electromagnets may be commutated. Commutation timing for the plurality of electromagnets may be determined based at least in part on the delta zero crossing error.