A method for controlling operation of a motor operatively connected to a motor drive, the method comprising the steps of: determining a bandwidth for a load observer executable in the motor drive, wherein the bandwidth is greater than or equal to an expected torque response generated from a load operatively connected to the motor; reading a motor inertia value from a memory of the motor drive, wherein the motor inertia value corresponds to an inertia value for the motor when no load is connected to the motor; executing a control module with a processor in the motor drive, wherein the control module includes: an inner control loop generating a first torque reference signal corresponding to a desired operation of the motor; the load observer generating an estimated torque signal corresponding to the load present on the motor; a summing junction combining the first torque reference signal and the estimated torque signal to generate a second torque reference signal; at least one filter configured to receive the second torque reference signal as an input and provide a filtered torque reference signal as an output; and an inertia scaling factor set equal to the motor inertia value, wherein the inertia scaling factor is a gain applied to the filtered torque reference signal to generate a desired torque command for the motor; and supplying at least one of a desired voltage and a desired current from the motor drive to the motor as a function of the desired torque command. determining a bandwidth for a load observer executable in the motor drive, wherein the bandwidth is greater than or equal to an expected torque response generated from a load operatively connected to the motor; reading a motor inertia value from a memory of the motor drive, wherein the motor inertia value corresponds to an inertia value for the motor when no load is connected to the motor; executing a control module with a processor in the motor drive, wherein the control module includes: an inner control loop generating a first torque reference signal corresponding to a desired operation of the motor; the load observer generating an estimated torque signal corresponding to the load present on the motor; a summing junction combining the first torque reference signal and the estimated torque signal to generate a second torque reference signal; at least one filter configured to receive the second torque reference signal as an input and provide a filtered torque reference signal as an output; and an inertia scaling factor set equal to the motor inertia value, wherein the inertia scaling factor is a gain applied to the filtered torque reference signal to generate a desired torque command for the motor; and an inner control loop generating a first torque reference signal corresponding to a desired operation of the motor; the load observer generating an estimated torque signal corresponding to the load present on the motor; a summing junction combining the first torque reference signal and the estimated torque signal to generate a second torque reference signal; at least one filter configured to receive the second torque reference signal as an input and provide a filtered torque reference signal as an output; and an inertia scaling factor set equal to the motor inertia value, wherein the inertia scaling factor is a gain applied to the filtered torque reference signal to generate a desired torque command for the motor; and supplying at least one of a desired voltage and a desired current from the motor drive to the motor as a function of the desired torque command.