Hello carlos_gtronix.From the screenshot it seems the current waveform is smooth without any jitter/noise; you may even try to increase the Kp/Ki of the current controllers (same values for Iq/Id for instance).  Anyway, that is not your main concern ...

 Hello Carlos,The Kp/Ki of the observer are used to compute the observed electrical angle : the integral part of a PI is used as an integrator. The PI is fed with the observed speed so we can retrieve the observed rotor angle -> d(theta)/dt = speed. ...