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The use of multiphase electric drives in industrial applications has increased in the last few years. These machines’ advantages over the three-phase system make them appropriate for harsh working situations. To increase their inherent reliability, some authors have been working in sensorless control schemes, where the absence of an encoder ensures proper system performance. Nevertheless, these sensorless control systems present some problems due to the uncertainties of the parameters. In this regard, using extended Kalman filters overcomes this situation, since Kalman filters consider the system error and measurement error in the estimation process. However, when the three-phase Kalman filters are extended to the five-phase case of study, the complexity of the problem increases substantially. In this work, the authors propose an extended Kalman filter, which discomposes the original state equation, reducing the complexity of the estimation stage. In addition, the system suppresses the third-harmonic injection, which enhances the overall phase-current quality.