Motor drives and control methods are presented for sensorless motor speed control in which inverter output currents are sampled from the inverter output, and a frequency modulation value is determined based on the current feedback and either one or more voltage commands or one or more voltage feedback signals. A speed or frequency setpoint is adjusted at least partially according to the frequency modulation value to provide an adjusted frequency or speed setpoint value that is then used in controlling the inverter to provide stability control to mitigate hunting or motor stoppage.