Permanent magnet motors with improved torque ripple and methods for designing the same have been provided. The permanent magnet motor can include a stator having a hollow core and defining a plurality of slots; a winding disposed in each of the slots; a rotor rotatably disposed inside the hollow core of the stator; and a plurality of permanent magnets supported by the rotor. Each of the slots has a slot opening, and at least one of the slot openings can be off-center with respect to the respective slot.