An interior permanent magnet machine includes a rotor formed with a plurality of slots that are substantially arc-shaped and referred to herein as arc segments. A first layer of arc segments are disposed in a first pole. The first layer defines a first configuration relative to a first arc center. A second layer of arc segments are disposed in a second pole. The second layer defines a second configuration relative to a second arc center. The rotor is configured such that the first configuration is different from the second configuration, thereby exhibiting pole-to-pole asymmetry. The first configuration is sufficiently different from the second configuration such that torque ripple may be minimized. In one embodiment, the first layer includes first, second and third arc segments. The rotor may be configured such that the second arc segment is radially offset relative to the first and third arc segments.