Abstract: A closed loop control system for a stepper motor provides the necessary feedback to accurately control the position of a motor during acceleration, constant velocity and deceleration. Generation of commutation signals is based upon a monitoring of motor position to determine the points where commutation would result in maximum accelerating torque during acceleration and constant velocity and minimum braking torque during deceleration. These points indicate the earliest points at which commutation may occur. Commutation may be delayed in order to reduce the accelerating torque during acceleration and constant velocity or increase the braking torque during deceleration.