A control system for a refrigeration system motor includes an angle determination module that generates an output rotor angle indicating a desired angle of a rotor of the motor. A control module controls the motor based on the output rotor angle. An estimator module determines an estimated rotor angle. A transition module generates a transition signal in response to convergence of the estimator module. Upon startup, the angle determination module generates the output rotor angle based on a first rotor angle. Upon generation of the transition signal, the angle determination module generates the output rotor angle based on the first rotor angle and the estimated rotor angle. After 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.