Addresses torque ripple reduction in current-fed switched reluctance motors (SRMs). Ripple-free torque production in SRMs requires an accurate model which is often too complex for practical implementation. The proposed algorithm combines the use of a simplified model (to reduce computational burden), with adaptation. Explicitly, it includes dynamic estimation of low harmonics of the combined unknown load torque and the ripple in the produced torque (due to simplification), and adds corresponding terms to the commanded current, to cancel these harmonics. Several simulations are presented, suggesting that our method is indeed effective for both constant and variable reference commands, even when a very crude model is used in control design.