A mechanical vibration and acoustic noise of permanent magnet synchronous machines (PMSM) are caused by the torque ripple due to the non-sinusoidal back electromotive force (BEMF). The accurate modeling with a torque ripple is essential to improve the torque characteristics of PMSM. The torque ripple that appears because of the interaction between the flux of the PM and the stator teeth. A general dynamic modeling of PMSM has only a magnetic torque and a reluctance torque. Therefore, the dynamic modeling of the PMSM is a need to apply the influence of the harmonics. This paper proposes an improved modeling of the PMSM considering the torque ripple characteristics. The theoretical basis of the torque ripple and individual definition of the model block is explained. The effectiveness of this proposed modeling is verified by the simulation and experiment according to the comparison of the output characteristics between the traditional and proposed modeling. Index Terms-Back electromotive force harmonics, fast fourier transform, permanent magnet synchronous machine, torque ripple, modeling.