The back EMF (BEMF) of a motor is sensed and compared to a target back EMF (BEMF) to generate an error control signal. The circuit supply voltage is also sensed. A PWM motor control signal is generated in response to a comparison of the error control signal to a ramp signal having a variable slope. The variable slope is selected in response to the sensed circuit supply voltage. The motor is then driven in response to the PWM control signal. The sign of the error control signal is used to selectively short one of motor terminals to a reference voltage supply node while the other motor terminal is driven in response to the PWM control signal.