This paper presents a novel torque control technique of a switched reluctance (SR) motor. This control scheme is a combination of proposed techniques including torque estimation and excitation angle control. Due to the proposed torque control, a unipolar excitation of the SR motor is automatically optimized, and not only smooth torque production but also the highest possible efficiency drive can be achieved without preliminary tuning. In addition, it is easy to implement the control algorithm on a drive platform which has a limited memory capacity because it requires storing simple pre-knowledge and detecting measurable online information. The effectiveness of the proposed techniques are evaluated by performing simulations and experiments on a 1kW 8/12 SR motor in this paper.