In at least one embodiment, the invention provides a bidirectional amplifier and method of control that enables immediate feedback directly from the output for fast response and low distortion. Mechanisms responsive to instantaneous feedback eliminate undershoot, overshoot, and sub-harmonic behavior. One embodiment comprises two switches and a single two-terminal inductor. Another embodiment produces a bipolar output from a single unregulated supply rail. The use of Predictive Energy Balancing controls yield high efficiency and low total harmonic distortion. These amplifiers are suited for audio application, and can drive piezo or dynamic speakers.