As some of the cogging torque component is caused by
manufacturing imperfections [6, 7] motor design solutions will
not minimize all cogging torque. Successful implementation of
PMSMs into mass produced applications where low torque
ripple is critical will require a control based compensation.
Other researchers have attempted to measure and reduce
torque ripple by using a variety of sensors such as a simple
piezoelectric polymer film vibration sensors mounted on the
motor frame [8], an accelerometer [9], speed data [10] or a
torque sensor [4]. The method demonstrated in [8] only