This paper presents a control scheme for smooth torque production in permanent-magnet synchronous motor drives. The proposed control scheme consists of two techniques: a feedforward compensation for torque ripple minimization and an online parameter estimation technique for harmonic fluxes. The feedforward compensation is constructed on a position-sensorless vector control system and generates voltage commands to suppress torque ripples. The command calculation process requires the parameters of the harmonic fluxes; therefore, the proposed control scheme includes their estimator and calculates them from detected current information. These techniques are simpler than existing ones and can be implemented on a computational device with a small amount of calculation load. The proposed control scheme is verified by performing simulations and experiments.