Abstract: A system and apparatus for startup and speed regulation of low-inertia capstan motors under circumstances where the capstan load during startup may vary widely. A stiction handler provides dynamic control of the motor drive voltage imposed to overcome stationary friction, minimizing the power consumption on startup independently of variations in drag load or motor inertia. A stepped speed-up signal is applied to the motor instead of a conventional constant current-limited signal or sawtooth ramp signal. Motor speed regulation is imposed at each step of a stepped speed-up drive signal. This invention is particularly useful, for example, in low-power magnetic tape drives that must efficiently adapt to variations in drag between one tape cassette or cartridge and another.