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This paper presents an improved method to estimate rotor motion states for an interior permanent-magnet machine drive. This approach is based on the estimation of a saliency-based electromotive force (EMF) in the stationary reference frame using a state filter. The spatial information obtained from the estimated saliency-based EMF is used in an observer to estimate the motor motion states. By using the commanded torque as a feedforward input to the observer, the motion state estimation has zero-phase lag, providing a very-high-bandwidth estimate.