Permanent-magnet synchronous motor (PMSM) drives are widely used for high-performance industrial servo applications where torque smoothness is an essential requirement. However, one disadvantage of PMSM is parasitic torque pulsations, which induce speed oscillation that deteriorates the drive performance particularly at low-speeds. To suppress these speed ripples, two iterative learning control (ILC) schemes implemented in time domain and frequency domain respectively are proposed in this paper. Although a conventional proportional-integral (PI) speed controller does suppress speed ripples to a certain extent, it is not adequate for many high performance applications. Thus, the proposed plug-in ILC controller is applied in conjunction with a PI speed controller to further reduce the periodic speed ripples. Experimental verification of the two schemes is carried out, and test results obtained demonstrate that the scheme implemented in frequency domain has better performance in reducing speed ripples than that implemented in time domain because of the elimination of forgetting factor that is indispensable for robustness in time domain learning method.