An internal combustion engine includes a main combustion chamber, an auxiliary combustion chamber, a partition wall that separates the main and auxiliary combustion chambers, a first igniter disposed in the auxiliary combustion chamber, a second igniter disposed in the main combustion chamber, and a controller electrically coupled to the first and second igniters. The auxiliary combustion chamber has a capacity smaller than that of the main combustion chamber. The partition wall includes a communication passage. The controller is adapted to send an auxiliary combustion chamber ignition timing signal to the first igniter and is adapted to send a main combustion chamber ignition timing signal to the second igniter. Further, the controller is adapted to send the auxiliary and main combustion chamber ignition timing signals such that, in response to at least one engine operating condition, ignition in the auxiliary combustion chamber occurs after ignition in the main combustion chamber.