A control system for a motor in a refrigeration system includes an angle determination module configured to generate an output rotor angle indicative of a desired angle of a rotor of the motor. The control system controls current supplied to the motor based on the output rotor angle. The control system determines an estimated rotor angle of the motor. The angle determination module, upon startup of the motor, generates the output rotor angle based on a first rotor angle. Upon generation of a transition signal, the angle determination module generates the output rotor angle based on both the first rotor angle and the estimated rotor angle. Subsequent to generation of the transition signal, the angle determination module reduces a contribution of the first rotor angle to the output rotor angle over time until the output rotor angle is based on the estimated rotor angle independent of the first rotor angle.