Brushless permanent magnet (PM) servomotors are appealing candidates for many high-performance applications. A persistent problem with PM motors is the non-uniformity in the developed torque which gives rise to a torque pulsation that varies as a function of operating conditions. In this paper an adaptive torque pulsation compensation scheme is developed. The adaptive scheme is based on a simple lumped parameter model for the motor and on the prescribed and actual angular position measurements. The compensating signal is directly added to the motor’s position control signal, so that no new hardware is necessary. The adaptive scheme is implemented on a PC computer and the effectiveness of the adaptive torque pulsation compensation is demonstrated by experiments.