1 : A control system for controlling a motor providing drive to an aircraft nose wheel, comprising: (a) a plurality of input devices, for inputting power commands and for sensing operating conditions; (b) hardware drivers, for calibrating the power commands and sensor readings of said input devices to produce device variables; (c) state change rules, providing state definitions for said device variables; (d) system state, for applying said state change rules to said device variables, to determine system operational state; (e) a first set of PFLL, for filtering said device variables according to a first set of out-of-bounds conditions, with reference to said system operational state; (f) a first calculation, for determining a torque request to apply to the motor according to said filtered device variables; (g) a second set of PFLL, for filtering the torque request, according to a second set of out-of-bounds conditions, and with reference to said system operational state; (h) a second calculation, for determining a motor drive frequency and motor voltage to produce said filtered torque request; (i) a motor command generator, for producing lower level commands to operate the motor, based on the determined motor drive frequency and motor voltage; (j) a motor commander for formatting the lower level commands for the motor; and (k) a motor, comprising, a stator-rotor combination, and drive electronics, wherein said drive electronics supply electrical current to said stator-rotor combination according to said lower level commands.