High-performance control of a switched reluctance (SR) motor strictly requires an accurate nonlinear motor model as well as an appropriate control strategy. Since recent modeling methods are either complex or not accurate enough, this paper focuses on overcoming such drawdacks. An experimental method is proposed to collect useful data for modeling a 6/4 SR motor at running condition. Nonlinear modeling is done by an algorithm, which also enables simple static torque computation. The algorithm presents not only the static torque data but also an estimator model for instantaneous torque estimation during real-time operation, which is very important for most torque control strategies. The nonlinear model is experimantally tested, and its accuracy verified. (c) 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.