Abstract: The permanent magnet synchronous motors（PMSM） are widely used in high-performance applications such as servo control, where the low torque ripple is required. However, the undesirability of the motor structure, the nonlinearity of power converters and the bad operating conditions will lead to high output torque ripples. In this paper, a resonance controller was proposed to reduce the harmonic currents caused by nonlinearity of power converters and low carrier ratios, then to reduce torque ripples of the motor. In order to validate the algorithm, a control platform based on the dSPACE was built and an experiment on the PMSM with harmonic shaped rotors was conducted. The experimental results show that the resonance controller can compensate harmonic currents of motor stators effectively, and then to reduce the torque ripple of PMSM with harmonic shaped rotors effectively.