In this paper, some control algorithms of motor drive speed estimation are analysed and compared using Matlab-Simulink software. The comparison of the performance of the different estimation methods requires a real speed profile. Those ones result from the solution of the electrical and mechanical equations of a DC motor. First the disadvantages of the classical method are pointed out. Second, two methods based on the use of Taylor series and least squares method are developed. Finally, in addition to the previous methods, an algorithm for speed estimation based on the use of a sliding window is proposed.