Abstract: A method of operating a class D amplifier output stage that compensates for nonlinearity introduced by a residual load current during the dead time in the switching of the output stage. The amplifier output stage includes an input, a gate driver circuit, two output transistors, an output, and a current sensing circuit. The transistors are serially connected between the terminals of a power supply. A residual load current flows through the transistors when they are switched off. The gate driver circuit increases or decreases the duty cycles of signals driving the transistors based on the direction of the residual load current flowing through the transistors, thereby causing the duty cycle of the amplifier output to remain substantially constant and equal to the duty cycle of the amplifier input.