A system includes a modulator for receiving an input signal, modulating the received input signal, and generating a digital signal, an H-bridge controller for receiving the digital signal and generating control signals, an H-bridge circuit for receiving the control signals and operating based on the received control signals so as to output an analog signal to a load, and a common-mode error determination circuit for generating an error signal indicating at least one of an error of a common-mode voltage and an error of a common-mode current of the H-bridge circuit. The H-bridge controller receives the error signal and generates the control signals based on the received digital signal and the received error signal so as to reduce variations in at least one of an average of the common-mode voltage or an average of the common-mode current of the H-bridge circuit.