The document discusses various methods to reduce cogging torque in permanent magnet machines. Cogging torque is an undesirable torque pulsation caused by the interaction between permanent magnets and stator slots. Several techniques are presented: shaping magnets, lengthening the air gap, adding auxiliary grooves on magnets, skewing the rotor or stator, using slotless stators, asymmetrical magnet arrangements, changing the number of stator slots, skewing stator teeth, and shifting magnets axially. These techniques reduce cogging torque by 16-58% but also reduce the overall torque output in some cases. Slotless stators, bread loaf magnets, and using an odd number of stator slots are shown to