I. Introduction
Induction motors (IM) have been widely used in industrial and household applications thanks to their low-cost production, robust construction, and low maintenance requirements. However, IMs have some drawbacks as well; parasitic effects such as pulsating torques, mechanical vibration, and acoustic noise still remain challenging issues for machine designers. Besides, modern electric motors are designed with higher magnetic flux density in the air gap than motors manufactured fifty years ago, and, consequently, the electromagnetic vibration and noise are higher in newer motors, regardless of the stator/rotor slot combination [1]. On the other hand, with the increasing environmental concerns, vibration and noise issue has become more challenging for machine designers. In this regard, both industrial and academic communities are looking for a solution to minimize the torque ripple, noise and vibration in electrical machines.