Method of estimating a torque for a synchronous electromagnetic machine comprising a stator having at least one winding and a rotor having a, during operation, magnetic region, the method comprising: receiving a current signal (i d, i q, 105, 107) indicative of an electrical current flowing in the winding; receiving a voltage signal (u d, u q, 103) indicative of a voltage applied to the winding; transforming the current and the voltage into quantities of a d-q-coordinate system, wherein the d-axis rotates synchronously with the rotor and the q-axis is perpendicular to the d-axis; establishing an equation for the d-component (u d) of the voltage depending on the d-component (i d) of the current; a time derivative of the d-component (i d) of the current; and a term comprising a time derivative of the d-component (ψ rd) of a magnetic flux of the magnetic region and the q-component (ψ rq) of the flux of the magnetic region; establishing an equation for the q-component (u q) of the voltage depending on the q-component of the current (i q); the d-component of the current (i d); a time derivative of the q-component (i q) of the current; and a term comprising a time derivative of the q-component (ψ rq) of the magnetic flux of the magnetic region and the d-component (ψ rd) of the flux of the magnetic region, thereby taking into account higher harmonics of current and magnetic flux; estimating a d-component and a q-component of a back electromotive force (e d, e q) based on the currents (i d, i q) and the established voltages (u d, u q) in the d-q-coordinate system; and deriving the torque (T e) based on the estimated back electromotive force (e d, e q) in the d-q-coordinate system and the current signal (id,iq) in the d-q-coordinate system. receiving a current signal (i d, i q, 105, 107) indicative of an electrical current flowing in the winding; receiving a voltage signal (u d, u q, 103) indicative of a voltage applied to the winding; transforming the current and the voltage into quantities of a d-q-coordinate system, wherein the d-axis rotates synchronously with the rotor and the q-axis is perpendicular to the d-axis; establishing an equation for the d-component (u d) of the voltage depending on the d-component (i d) of the current; a time derivative of the d-component (i d) of the current; and a term comprising a time derivative of the d-component (ψ rd) of a magnetic flux of the magnetic region and the q-component (ψ rq) of the flux of the magnetic region; establishing an equation for the q-component (u q) of the voltage depending on the q-component of the current (i q); the d-component of the current (i d); a time derivative of the q-component (i q) of the current; and a term comprising a time derivative of the q-component (ψ rq) of the magnetic flux of the magnetic region and the d-component (ψ rd) of the flux of the magnetic region, thereby taking into account higher harmonics of current and magnetic flux; estimating a d-component and a q-component of a back electromotive force (e d, e q) based on the currents (i d, i q) and the established voltages (u d, u q) in the d-q-coordinate system; and deriving the torque (T e) based on the estimated back electromotive force (e d, e q) in the d-q-coordinate system and the current signal (id,iq) in the d-q-coordinate system.