A control apparatus for a conveying system (160, 260), the control apparatus (120, 520, 520a, 520b) comprising: a control module (122, 522a, 522b) configured to control a power converter (124, 524A, 524b) coupled to a motor (140, 540a, 540b); and a modification module (121, 521a, 521b) configured to: estimate a size parameter of an item conveyed by the motor while the motor conveys the item through a zone (245-1, 245-2, 245-3) of the conveying system; determine if a hold command is received while the item is at a location in the zone associated with the motor; and in response to receiving a hold command while the item is at a location in the zone: modify one or more parameters (Ki, Kp) of the control module based on the estimated size parameter of the item to thereby hold a rotor (149, 549a, 549b) of the motor at a rotor hold position; after modifying the one or more parameters of the control module, determine whether the rotor of the motor is moving in a clockwise direction and a counterclockwise direction based on data from a motor sensor (195, 595a, 595b); and if the rotor is moving in the clockwise direction and the counterclockwise direction after the one or more parameters are modified, make a second modification to the one or more parameters of the control module. a control module (122, 522a, 522b) configured to control a power converter (124, 524A, 524b) coupled to a motor (140, 540a, 540b); and a modification module (121, 521a, 521b) configured to: estimate a size parameter of an item conveyed by the motor while the motor conveys the item through a zone (245-1, 245-2, 245-3) of the conveying system; determine if a hold command is received while the item is at a location in the zone associated with the motor; and in response to receiving a hold command while the item is at a location in the zone: modify one or more parameters (Ki, Kp) of the control module based on the estimated size parameter of the item to thereby hold a rotor (149, 549a, 549b) of the motor at a rotor hold position; after modifying the one or more parameters of the control module, determine whether the rotor of the motor is moving in a clockwise direction and a counterclockwise direction based on data from a motor sensor (195, 595a, 595b); and if the rotor is moving in the clockwise direction and the counterclockwise direction after the one or more parameters are modified, make a second modification to the one or more parameters of the control module. estimate a size parameter of an item conveyed by the motor while the motor conveys the item through a zone (245-1, 245-2, 245-3) of the conveying system; determine if a hold command is received while the item is at a location in the zone associated with the motor; and in response to receiving a hold command while the item is at a location in the zone: modify one or more parameters (Ki, Kp) of the control module based on the estimated size parameter of the item to thereby hold a rotor (149, 549a, 549b) of the motor at a rotor hold position; after modifying the one or more parameters of the control module, determine whether the rotor of the motor is moving in a clockwise direction and a counterclockwise direction based on data from a motor sensor (195, 595a, 595b); and if the rotor is moving in the clockwise direction and the counterclockwise direction after the one or more parameters are modified, make a second modification to the one or more parameters of the control module. modify one or more parameters (Ki, Kp) of the control module based on the estimated size parameter of the item to thereby hold a rotor (149, 549a, 549b) of the motor at a rotor hold position; after modifying the one or more parameters of the control module, determine whether the rotor of the motor is moving in a clockwise direction and a counterclockwise direction based on data from a motor sensor (195, 595a, 595b); and if the rotor is moving in the clockwise direction and the counterclockwise direction after the one or more parameters are modified, make a second modification to the one or more parameters of the control module.