In this paper, a technique for eliminating torque dips in brushless DC motors (BLDCM) with surface–mounted magnets is introduced. The root causes of dips are the non–ideality of the back EMF waveform and the unequal rates of growth and decay of the commutating currents. The back EMF non–ideality addressed by this paper is limited to having flat intervals shorter than 120 deg. Such non–ideal BLDCM can be modelled using a set of piecewise continuous equations with the shortening angle delta as a characteristic parameter. The relation between such parameter and the magnitude of the torque dip is derived analytically. A current control strategy which proactively shapes the current reference for maintaining dip–free electromagnetic torque is explained. The proposed control strategy turns the back EMF non–ideality into an opportunity to establish a smooth commutation process during which incoming and outgoing currents have better chance to replace one another at same rate within a period of two deltas.