Abstract: A controller minimizes periodic torque or force perturbations in an inductor-type synchronous motor drive by supplying current waveforms to each motor phase that contain a fundamental frequency component and selected harmonic components. The harmonic components in the phase currents heterodyne with the periodic permanent magnet flux fundamental frequency to create periodic torques or forces which subtract from the unwanted torques or forces perturbing the moving portion of the motor. The controller, which includes an interpolator, a memory, and a converter, provides for smooth incremental movement of a member such as a plot head, at substantially constant velocity, by applying selected continuous periodic waveform signals as phase currents to the windings of inductor-type synchronous motors.