GaN devices have faster switching speeds that reduce noise and significantly reduce servo-driver size, but electromagnetic interference (EMI) issues are more pronounced. The random carrier frequency modulation strategy (RCFPWM) can effectively suppress EMI, but the torque ripple is more severe after the carrier frequency is randomized. Therefore, a hybrid carrier frequency modulation strategy based on Markov chain (Markov-HCFPWM) is proposed. This strategy uses mixed carrier frequency modulation to reduce carrier frequency difference between adjacent switching cycles, and uses Markov chain to make local average carrier frequency close to the expected value. The simulation and test results show that compared with RCFPWM strategy, the proposed strategy can reduce torque ripple on the premise of effectively suppressing EMI.