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interior permanent magnet synchronous motor; torque ripple; cogging torque; electric vehicle; notch; mathematical model; Halbach Array; surface permanent magnet; magnetic vector potential; torque; in-wheel electric vehicle; independent 4-wheel drive; torque distribution; fuzzy control; traction control; active yawrate control; energy efficiency; industry; water circuits; OpenModelica; optimisation; induction motor; speed estimation; model reference adaptive system; kalman filter; luenberger observer; flux switching machine; modular rotor; non-overlap winding; magnetic flux analysis; iron losses; copper loss; stress analysis; finite element method; magnetic loss; maximum efficiency (ME) characteristic; maximum torque per ampere (MTPA) characteristic; modeling; permanent magnet synchronous machine (PMSM); sensorless control; synchronous machines; dynamic models; nonlinear magnetics; parameter estimation; DC-DC converter; resistance spot welding; transformer; efficiency; dynamic power loss; design; induction machines; nonlinear control; torque/speed control