Back electromotive force (EMF)-based sensorless vector control of permanent magnet synchronous motor (PMSM) drives provides a simple, robust, and low-cost solution for applications requiring only medium- and high-speed control. However, during the low-speed operation, back EMF is nearly zero, and hence, for starting and speed ramp-up, open-loop I−ƒ control is used. Once the motor attains a sufficient speed, the control is transferred to sensorless vector control. However, an arbitrary choice of the slope of frequency ramp leads to pole slipping. Pole slipping is usually prevented by fixing the frequency ramp slope to a minimum value, which deteriorates the dynamic performance during starting. In this article, a torque controller is proposed to dynamically vary the frequency slope depending on the moment of inertia and load torque present in the system, achieving fast and reliable starting. A reference frequency modulation algorithm for overcoming the inherent mid-frequency instability of the open-loop control is also included. An additional slope attenuator is proposed to minimize the torque oscillations caused by the reference frequency modulation during the transition from a ramp-up interval to a constant-speed interval with I−ƒ control. The proposed methods are experimentally verified on a 25-kW PMSM drive, which is started using open-loop I−ƒ control. [ABSTRACT FROM AUTHOR]