Abstract: A transmitter of a wireless power transfer system is provided. The transmitter comprises a processor and a memory. The memory stores executable instructions that, in response to execution by the processor, can cause the processor to receive one or more signals generated by an inverter of the transmitter. The processor can measure or obtain a first value of the one or more signals and perform a comparison between the first value and a second value of the one or more signals. Based on the comparison, the processor can adjust at least one parameter of a pulse width modulation (PWM) signal generated by the processor that controls the inverter to maintain the inverter in a soft switching state.