A motor driver combination for controlling a travelling wave motor includes a pre-driver including a microcontroller unit (MCU) chip including a plurality of high-resolution pulse width modulation (HRPWM) generators providing a frequency resolution better than ten Hz. A digital bus is for transferring digital words received from a controller in a servo and velocity control block to the HRPWM generators, where the digital words provide travelling wave motor operating performance information from the motor during its operation. A clock oscillator providing an accuracy of at least eighty (80) parts per million (ppm) is coupled to or provided by the MCU chip for each of the high-resolution PWM generators. A motor driver includes a plurality of power drivers for providing phased outputs for driving the travelling wave motor including a plurality of inputs coupled to outputs of the plurality of HRPWM generators. The travelling wave motor can be an ultrasonic motor.