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MCF8316AEVM: Low speed and high torque rotation of low power motor

Part Number: MCF8316AEVM
Other Parts Discussed in Thread: MCF8316A, MCT8316Z

Hello,

I asked and solved the problem that the motor does not rotate well in the closed loop.
But I still have some problems.
(1) Motor does not rotate stably at low speed (30 [fps])
     When the speed drops below about 40 [fps], it often stops.
(2) If the torque load fluctuates, the motor cannot maintain its speed.

Especially low speed rotation is difficult with my low power motor.
My motor has an encoder, but it doesn't have A, B, C phase Hall sensors...

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}

Thanks,
Tetsuya K