I. Introduction
I N the past decades, permanent magnet (PM) machines have been of increasing interest because of their various advantages, including high efficiency, power density and power factor. These advantages are particularly important when high and variable speed operation in machines of smaller size and weight is desirable in some applications, such as in turbine generators and automotive propulsion [1]–[2]. Improving the efficiency of electric machines has also been of interest recently since higher energy efficiency classes for electric motors have been put in place by the International Electrotechnical Commission (IEC) [3].