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The Halbach magnetized permanent-magnet (PM) motors can be designed to achieve high torque density and to realize hollow rotor structure with very low rotational inertia. In this paper, the design and analysis of Halbach-array-based PM motors, which can produce high output torque and meet the requirements for very fast dynamic performance, are presented. A design method is proposed to select the optimum dimensions of the Halbach-array-based PM machines. The analysis and design approach for the selection of the suitable stator winding distribution, while considering the effect of the end windings, are also presented. Loss analysis of the machine is carried out, and a simplified 3-D model is proposed for its thermal analysis. Detailed finite-element analysis results are provided for the verification of the performances of the designed machine.