This paper presents a new control technique for minimizing torque ripple in permanent magnet synchronous motors (PMSMs) and synchronous reluctance motors (Syn.RMs). This control technique is based on instantaneous torque estimation with a new mathematical model. The model can accurately take into account the spatial harmonics and it requires some machine parameters and a small amount of offline data. With the new mathematical model, the active control for smooth torque is possible at low cost with existing drive platforms. In this paper, the proposed control technique is evaluated by performing both simulations and experiments.