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Brushless DC motors were developed from conventional brushed DC motors with the availability of solid state power semiconductors - details see: https://www.machineto.com/12v-24v-36v-dc-brushless-motor-10237737

The commutation function may be performed by various shaft position sensors: optical encoder, magnetic encoder (resolver, synchro, etc), or Hall effect magnetic sensors. Small inexpensive motors use Hall effect sensors. (Figure below) A Hall effect sensor is a semiconductor device where the electron flow is affected by a magnetic field perpendicular to the direction of current flow.. It looks like a four terminal variable resistor network. The voltages at the two outputs are complementary. Application of a magnetic field to the sensor causes a small voltage change at the output. The Hall output may drive a comparator to provide for more stable drive to the power device. Or, it may drive a compound transistor stage if properly biased. More modern Hall effect sensors may contain an integrated amplifier, and digital circuitry. This 3-lead device may directly drive the power transistor feeding a phase winding. The sensor must be mounted close to the permanent magnet rotor to sense its position.