Methods and apparatus disclosed herein implement or otherwise embody a technique that compensates for cyclic position errors in encoder-based position detection, wherein the cyclic position errors arise from the presence of harmonic components in the encoder signals relied upon for position determination. Using position-domain compensation for errors arising in the encoder domain offers computational simplicity and impressive compensation performance, even when compensating for a plurality of higher harmonics in the encoder signals, e.g., third harmonic, fifth harmonic, etc. Consequently, even high-precision position monitoring or control can use relatively inexpensive types of encoders known to output encoder signals having significant harmonic components.