An interior permanent magnet machine is described. The machine includes a rotor rotatable about a central machine axis. The rotor includes a plurality of permanent magnet openings and a plurality of permanent magnets disposed therein. The permanent magnet openings are separated by rotor webs configured to facilitate reducing leakage flux through the rotor webs. The machine also includes a stator disposed coaxially with the rotor and separated from the rotor by a circumferential air gap. The stator includes a plurality of stator teeth that define a plurality of stator slots therebetween. The stator teeth include a stator tooth tip configured to facilitate reducing cogging torque and torque ripple.