A method comprising: estimating, by use of a processor, a velocity profile for a motor without a position input and a velocity input, based on line-to-line voltages and phase currents for the motor by determining a voltage envelope for the line-to-line voltages, determining zero crossings for the line-to-line voltages, determining a voltage maximum for the line-to-line voltages, scaling each line-to-line voltage to the voltage maximum as a scaled voltage signal, determining a cumulative angular position from the scaled voltage signal, reversing a cumulative angular position direction at motor direction changes, and determining the velocity profile from the cumulative angular position; and estimating a torque profile for the motor by determining an airgap torque profile from the line-to-line voltages, the phase currents, a motor resistance, and an interval velocity profile of a time interval of the velocity profile having motor velocities greater than a velocity threshold, determining an acceleration torque profile from the velocity profile, a rotor load, and/or a gearbox load, and determining a developed torque profile from the airgap torque and the acceleration torque profile, scaling a vectoral sum squared of the phase currents by a scaling factor to the developed torque profile over the time interval to obtain an interval torque profile for the time interval, and scaling the remaining profile of vectoral sum squared not in the time interval by the scaling factor to obtain the torque profile for an entire time interval of the velocity profile, and wherein the motor is operating over the time interval. estimating, by use of a processor, a velocity profile for a motor without a position input and a velocity input, based on line-to-line voltages and phase currents for the motor by determining a voltage envelope for the line-to-line voltages, determining zero crossings for the line-to-line voltages, determining a voltage maximum for the line-to-line voltages, scaling each line-to-line voltage to the voltage maximum as a scaled voltage signal, determining a cumulative angular position from the scaled voltage signal, reversing a cumulative angular position direction at motor direction changes, and determining the velocity profile from the cumulative angular position; and estimating a torque profile for the motor by determining an airgap torque profile from the line-to-line voltages, the phase currents, a motor resistance, and an interval velocity profile of a time interval of the velocity profile having motor velocities greater than a velocity threshold, determining an acceleration torque profile from the velocity profile, a rotor load, and/or a gearbox load, and determining a developed torque profile from the airgap torque and the acceleration torque profile, scaling a vectoral sum squared of the phase currents by a scaling factor to the developed torque profile over the time interval to obtain an interval torque profile for the time interval, and scaling the remaining profile of vectoral sum squared not in the time interval by the scaling factor to obtain the torque profile for an entire time interval of the velocity profile, and wherein the motor is operating over the time interval.