I. Introduction
Due to high efficiency and high torque density, permanent magnet (PM) synchronous machines (PMSMs) have been widely employed in domestic appliances, servo drives, electric vehicles, wind power generation, etc. [1]. Surface-mounted PMSM (SPMSM) is one of the most preferred choices due to its simple structure, where the PMs are mounted on the surface of the rotor and adjacent to the airgap.