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This work addresses the problem of mitigating the effects of the cogging torque in permanent magnet synchronous motors, particularly brushless motors, which is a main issue in precision electric drive applications. In this work, a method for mitigating the effects of the cogging torque is proposed, based on the use of a nonlinear automatic control technique known as feedback linearization that is ideal for underactuated dynamic systems. The aim of this work is to present an alternative to classic solutions based on the physical modification of the electrical machine to try to suppress the natural interaction between the permanent magnets and the teeth of the stator slots. Such modifications of electric machines are often expensive because they require customized procedures, while the proposed method does not require any modification of the electric drive. With respect to other algorithmic-based solutions for cogging torque reduction, the proposed control technique is scalable to different motor parameters, deterministic, and robust, and hence easy to use and verify for safety-critical applications. As an application case example, the work reports the reduction of the oscillations for the angular position control of a permanent magnet synchronous motor vs. classic PI (proportional-integrative) cascaded control. Moreover, the proposed algorithm is suitable to be implemented in low-cost embedded control units.