A resonant switching converter comprising a first pair of series connected switches comprising a high side switch and a low side switch coupled across a DC input voltage, there being a first switched node between the switches; a second pair of series connected switches comprising a high side switch and a low side switch coupled across a DC bus, there being a second switched node between the switches; a DC bus capacitor coupled across the DC bus; the first and second switched nodes adapted to have a load coupled therebetween; the high side switch of the first pair of switches supplying current to the load from the DC input voltage, the low side switch of the first pair of switches being switched opposite the high side switch of the first pair of switches and providing a re-circulation path to allow bi-directional current flow through the load; the high side switch of the second pair of switches supplying current to the load from the DC bus capacitor, the low side switch of the second pair of switches being switched opposite said high side switch of the second pair of switches and providing a re-circulation path to allow bidirectional current flow through the load; a controller for controlling the switching of each of the switches of the first and second pairs of switches, the controller comprising a phase shift circuit providing a phase shift between the control signals driving the switches of the first and second pairs of switches to shape the waveshape of the output voltage of the converter provided to the load; the controller further comprising a first circuit for providing a first compensation signal for the control signals driving the first pair of switches to compensate for variation of the DC input voltage; and a second circuit for providing a second compensation signal for the control signals driving the second pair of switches to compensate for variation of the DC bus voltage.