“…Class D amplifiers attracted a lot of interest in recent years and the research focuses mostly on (i) design of novel amplifier topologies [6], [7], [8], [9], (ii) design of novel modulation techniques [10], [11], [12], and (iii) application of advanced control techniques in order to improve linearity, power supply rejection and noise reduction [13], [14], [15], Manuscript [16], [17], [18]. Almost all of the publications focus on the design of monophonic or stereophonic applications and only a few investigated amplifier topologies and modulation and control strategies for an array of loudspeakers (actuators) [19], [20].…”