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Development of eco-friendly vehicles have risen in importance due to fossil fuel depletion and the strengthened globalized emission control regulatory requirements. A lot of automotive companies have already developed and launched various types of eco-friendly vehicles which include hybrid vehicles (HEVs) or electric vehicles (EVs) to reduce fuel consumption. To maximize fuel economy Hyundai-Kia Motor Company has introduced eco-friendly vehicles which have downsized or eliminated vibration damping components such as a torque converter. Comparing with Internal Combustion Engine(ICE) powered vehicles, one issue of the electric motor propulsion system with minimized vibration damping components is NVH (Noise, Vibration and Harshness). The NVH problem is caused by output torque fluctuation of the motor system, resulting in the degradation of ride comfort and drivability.