Abstract: A motor drive system for a sensorless motor includes a catch start sequencer that controls the motor drive system to robustly start the motor in the event the motor rotor is rotating in forward or reverse direction prior to activating the motor drive system. In particular, the catch start sequencer causes the motor drive system to initially find and track the rotor position, and then determines the speed and possibly the direction of rotation of the rotor. If the rotor is rotating in the reverse direction, the catch start sequencer controls the motor drive system to slow the speed of rotation and to then start the rotor rotating in the forward direction.