Torque ripple is a periodic disturbance in torque, and so it is not a static value. Torque is often seen as an average value, such as that which is shown by the black line in the top graph. However, torque has a frequency component and an amplitude component. It is an AC imposed over DC value, caused by excitation and construction.
Torque is often misunderstood because it is looked at when heavily filtered. The bottom graph shows a load step for a torque signal. But by looking at the instantaneous torque in red, it is clear that the torque has frequency and amplitude.
Even when approaching the steadier state, the torque ripple has frequency and amplitude. If this signal is heavily filtered, which we see in the black, all of these frequency and amplitude details are missed, as well as dynamics. Even a little filtering can distort the torque ripple signal and cause missed information.