This paper provides a review of key concepts for concurrent design for different machine types that are suitable for self-sensing at both zero to low speed and high speed operation. The impact of modifying the machine design to be suitable for self-sensing on power conversion properties (Average, cogging and ripple torque) is presented for several classical and advanced machine types. General recommendations to yield both self-sensing performance and good power conversion properties are provided for induction machines, surface permanent magnet machines, flux-intensifying interior permanent magnet machines, and variable flux machines with variable magnetization state and variable leakage flux.