A new and efficient analytical optimization methodology for the design of rotor features is developed and used in interior permanent magnet motors (IPM). The analytical methodology is based on an extended winding function theory to include the IPM rotor’s primary and secondary reluctance paths and the non-homogeneous airgap of the rotor sculpt features. The shape and placement of the rotor features, derived from the analytical-based optimization process, show the improvement in torque average and torque ripple of the IPM machine at a fraction of computational effort. The analytical optimization results are validated with finite element analysis via an exhaustive search.