A method is described for driving a full-bridge circuit (34,64) comprising a circuit (31) generating a first output modulation signal (m1) and a second output modulation signal (m2) for controlling the full-bridge. The method comprises the steps for generating a first (X1) and a second (X2) square waveform having a common period (Ts), where the first waveform (X1) is configured in order to drive a leg of the full-bridge and the second waveform is configured in order to drive the other leg of the full-bridge. The method is characterized in that the first square waveform (X1) is generated with a first duty cycle based on a first modulation signal (m1); the second square waveform (X2) is generated with a second duty cycle greater than or equal to the first duty cycle of a time increment Ts/(N−1) based on the second modulation signal (m2).