The offset errors and gain errors cause ripples of electromagnetic torque at once and twice the fundamental frequency in permanent magnet synchronous motors (PMSM) drives. When considering the nonlinearity of the inverter, the measurement errors bring other low-order harmonics into the system. To reduce these torque ripples, the interaction of measurement errors and the inverter is analyzed, which shows offset errors generate even-order harmonics and gain errors have little interaction with the inverter. A new method based on the error signals of the current loop is proposed for the offset errors and the gain errors. Experimental results show that torque ripples at once and twice the fundamental frequency are significantly reduced and the even harmonics caused by the inverter are attenuated along with the offset errors. This method is independent of motor parameters and require no extra hardware, which are friendly for industrial applications.