Experiencing jerks whilst running BLDC motor using esp32s

Hello,
I am using esp32s to run the BLDC motor with Hall sensor feedback in torque control. I am able to run the motor but I am experiencing jerks while running in both low as well as high speed. Am I experiencing the jerks because of false hall switching states or does it need PID parameter tuning in order to avoid jerks. Kindly help.

Is this voltage torque mode or are you doing current sensing? If it’s voltage torque mode, there are no PID loops running and the jerking would be due to inadequate position sensing.

Hello,
I am using voltage torque mode. If the jerking caused due to inadequate position sensing from hall sensors can it be overcome by using current sensing using sensorless position sensing method or by changing the controller itself. I took hall sensor reading twice for 1 mechanical rotation of the my 3 pole pair motor. Kindly verify whether it is correct.
Iteration(1)
A B C (Hall sensor)

  1. 0 1 0
  2. 0 0 1
  3. 1 0 0
  4. 1 0 0
  5. 0 1 0
  6. 0 0 1
  7. 0 0 1
  8. 1 0 0
  9. 0 1 0
  10. 0 0 1
  11. 1 0 0
  12. 0 1 0
    Iteration(2)
    A B C (Hall sensor)
  13. 1 0 0
  14. 0 1 1
  15. 1 0 0
  16. 0 0 1
  17. 1 0 0
  18. 1 1 0
  19. 0 1 0
  20. 0 1 1
  21. 0 0 1
  22. 1 0 0
  23. 1 1 0
  24. 0 0 1