“…In literature, this approach was mostly used for electrical machine design with two single responses. Several cases were presented where average torque was maximised (or maintained) while minimising torque ripple [8,21,22,26,58,75], cogging torque/force [9,14,34,48,85] or harmonic components in the machine [47,49,73,74]. Hwang et al applied this approach to maximise efficiency while minimising torque ripple [23,52] or cogging torque [24][25][26] while Zhu et al used the same approach for structural design [20].…”