For the purpose of improving the performance of sensorless interior permanent magnet synchronous motor (IPMSM) drives, an enhanced electromotive-force (EMF)-based position observer adopting second-order generalized integrator (SOGI) to eliminate the harmonic error is proposed. The inverter nonlinearities and flux spatial harmonics that give rise to the harmonic error of position estimation are analyzed. A harmonic decoupling network consisting of multiple SOGIs based adaptive filters is adopted to achieve the multiple selective EMF harmonic elimination (MSEHE). The application of the frequency-locked loop ensures the SOGI resonance frequency adaptive, which is critical for the variable-speed operation in IPMSM drive applications. Using the SOGI-MSEHE in the position tracking estimator, the low-order harmonics in the estimated EMF can be effectively eliminated, contributing to cancelling the position estimation harmonic error. The effectiveness of the proposed enhanced position observer is verified by the experimental results at a 2.2-kW IPMSM sensorless drive.