i
    
    =
    
      
        U
        a
      
      
        I
        a
      
    
  
  ,
can be calculated, e.g., by the controller 
106, while the magnetic flux (Φ) of the motor 
102, the number of winding turns (n) of the motor 
102, and the number of motor slots (S
m) of the motor 
102 are known constants. The inductance value (L) of the motor 
102, and the motor constant (K) are also known constants. Therefore, the estimated rotor speed (ω) can be calculated as: