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This paper presents a novel design method to reduce the cogging torque of interior-type permanent-magnet (PM) motor. In the design method, the optimal notches are put on the rotor pole face, which have an effect on the variation of PM shape or the residual flux density of PM. Through the space harmonic field analysis, the positions of notches are found, and the optimal shapes of notches are determined by using finite element method. The validity of the proposed method is confirmed by experiments.