Piezoelectric actuators are widely used in smart materials for vibration and noise control, precision actuators, etc. [1]. These actuators are largely capacitive and the reactive power applied on them can go to several tens of Watts. High-voltage, high-power class-D amplifiers [2][3][4][5] are ideal drivers for such loads, because of their high power efficiency. Preferably, efficiency should be high both at maximum power and at average output power. Obtaining high power efficiency over the full output power range of a class D amplifier is the main focus of this work. caused by the output current I out due to r on switch resistance, 2) Ripple loss P Irip caused by the inductor ripple current I rip due to r on and magnetic core loss of L out . 3) Switching loss P sw at the V pwm node caused by M HS /M LS having to charge/discharge C p in Fig. 1. This can be significant for high V DDP , since the energy stored in C p is proportional to 2 DDP V .There are two scenarios for P sw , depending on I rip and I out . In the first case, for low I out , the inductor ripple current I rip is large enough for the total inductor current L rip out I =I +I to be bidirectional. Then, when , I L can fully charge and discharge C p during the dead time t d without resorting to M HS /M LS . This is the soft switching case where P sw is eliminated. P Irip is now the main dissipation source, and f sw should be high to reduce I rip and thus P Irip . In the second case, when out rip I >I , I L is unidirectional and one of the V pwm switching transitions has to be finished by M HS /M LS . This is the hard switching case where P con and P sw are dominant. Then, the power MOSFET sizing for balanced P con and P sw plays a role, which benefits fromchoosing a low f sw to reduce P sw . We see that the two cases above have contradicting demands on f sw .Common practice is to set f sw in between as a compromise [3], but this is not optimal.Varying f sw can achieve higher efficiency over a larger output power range as in [6] and [7], but both techniques choose f sw based on output current only. This is suboptimal since the dissipation is highly dependent on both I rip and I out , and there are numerous factors causing I rip variation. Apart from external factors like V DDP and L out value, this is especially the case for class-D designs where I rip changes a factor >5 in the 0.05-0.95 duty cycle (D) range.We propose to regulate the I rip amplitude such that both P sw and P Irip are minimized by changing f sw based on the V pwm level at the turn-on transition of the power switches. This information is directly related to the dissipation sources and is inherent for getting to the optimal f sw , independent of circuit operating conditions affecting I rip . The result is a class-D amplifier with its f sw adapted to achieve minimal dissipation from idle to maximum output power. V pwm is not yet at V DDP when M HS turns on, indicating the existence of P sw and f sw should decrease. By adapting f sw such that either one of the V pwm switching is at the bou...