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A linear doubly salient permanent magnet (LDSPM) motor is particularly suitable for long stator applications due to its simple and low cost stator, which consists of only iron. This paper proposes a new LDSPM motor design with complementary and modular structure. The key of this structure is that the primary mover is composed of two modules whose positions are mutually four and one half of the stator pole pitch apart and there is a flux barrier between them. Hence, the back electromotive force (EMF) waveform and cogging force of the two modules have 180 electrical degree differences. This design results in the total cogging force being significantly reduced and the back-EMF of each phase becoming symmetrical because the even harmonics are canceled. For fair comparison, an existing linear LDSPM motor is designed based on the same electromagnetic parameters and compared by the means of finite element analysis (FEA). The results reveal that the proposed LDSPM motor can offer symmetrical back-EMF waveforms, smaller cogging force, lower force ripple, and higher magnet utilization factor than the existing one.