A method of controlling an inverter includes receiving output voltage target waveforms for phases of an inverter, generating uncompensated midpoint duty cycle waveforms for the inverter phases, selecting an uncompensated midpoint duty cycle waveform for one of the inverter phases based on the magnitudes of the uncompensated midpoint duty cycle waveforms, and applying a compensation signal to the selected uncompensated midpoint duty cycle waveform. An inverter controller and inverter employ the method for generating switch command signals for solid-state switch devices of the inverter.