This paper presents a new control method for a torque ripple compensation of permanent magnet synchronous motors (PMSMs). The control method is based on a new equation to estimate the instantaneous torque. The equation can accurately take into account variations of both a magnetic energy and a magnetic co-energy. To achieve a stable and an effective torque ripple reduction, a feedforward control and a feedback control are applied to the proposal system. In this paper, the simulation results show that the instantaneous torque estimation result is more accurate than the conventional method. In addition, the effectiveness of the control method is verified by both the simulation and the experiment.