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Sensorless drive control has been widely studied in recent years due to the numerous advantages regarding potential failures of position sensors, especially in applications such as automotive or aerospace. Among vector-control drives, indirect rotor-flux-oriented control (IRFOC) type is one of the most popular and tested options. However, it is still a challenging field since several aspects can be improved, such as the low-speed behavior, parameter detuning, and current control. The present scheme includes temperature estimation to correct the deviation in steady state, a new control scheme with skin-effect estimation to improve the transient accuracy, and overcurrent protection to be able to control the stator currents while allowing a good performance. The parameter estimation is carried out using lumped-parameter models, the control scheme is modified and is able to account for static friction, and the overcurrent protection improves the performance allowing transient currents over the rated value. The validity and usefulness of the proposed scheme is experimentally tested on a TMS320C31 digital signal processor (DSP) from the Simulink/Matlab environment.