This paper presents a novel control algorithm forhigh-torque low-speed permanent magnet synchronous motorsfor direct drive applications. A new induced voltage basedformulation of the electromagnetic torque is developed and anovel current control algorithm is designed to reduce the torqueripples which are originated from the flux harmonics. Aprototype motor with relatively high induced voltage harmonicsis designed and constructed and the experiment results of theHarmonic control algorithm are compared to the results of aconventional Field Oriented Control.