A method for equalizing time delays in a pulse width modulation system, said method comprising the steps of: providing a plurality of PWM units (102a, b, c) each comprising a non-inverted PWM channel (PWMH) and an inverted PWM channel (PWML) and each channel comprising controllable delay circuitry (404, 406), wherein the delay circuitry (404, 406) can be configured to delay a PWM signal between 0 and a maximum delay time; determining a maximum propagation delay of the plurality of PWM signals generated by the PWM units (102a, b, c); determining propagation delays of the other ones of the plurality of PWM signals; subtracting each of the propagation delays of the other ones of the plurality of PWM signals from the maximum propagation delay; and adding a time delay to each of the other ones of the plurality of PWM signals that is substantially equal to a difference between the maximum propagation delay and the propagation delay of the respective other one of the plurality of PWM signals; characterized in that each PWM channel is further controllable to entirely bypass the delay circuitry (404, 406) via a multiplexer; and each PWM channel is configured to be controlled by an alternate PWM signal provided by a different delay circuitry via the multiplexer; the method further comprises: using the delayed PWM signal to control the PWM unit (102a, b, c); or bypassing the time delays to the other ones of the plurality of PWM signals when a current limit or a fault condition occurs, or selecting the alternate PWM signal provided by the different delay circuitry. providing a plurality of PWM units (102a, b, c) each comprising a non-inverted PWM channel (PWMH) and an inverted PWM channel (PWML) and each channel comprising controllable delay circuitry (404, 406), wherein the delay circuitry (404, 406) can be configured to delay a PWM signal between 0 and a maximum delay time; determining a maximum propagation delay of the plurality of PWM signals generated by the PWM units (102a, b, c); determining propagation delays of the other ones of the plurality of PWM signals; subtracting each of the propagation delays of the other ones of the plurality of PWM signals from the maximum propagation delay; and adding a time delay to each of the other ones of the plurality of PWM signals that is substantially equal to a difference between the maximum propagation delay and the propagation delay of the respective other one of the plurality of PWM signals; characterized in that each PWM channel is further controllable to entirely bypass the delay circuitry (404, 406) via a multiplexer; and each PWM channel is configured to be controlled by an alternate PWM signal provided by a different delay circuitry via the multiplexer; the method further comprises: using the delayed PWM signal to control the PWM unit (102a, b, c); or bypassing the time delays to the other ones of the plurality of PWM signals when a current limit or a fault condition occurs, or selecting the alternate PWM signal provided by the different delay circuitry. using the delayed PWM signal to control the PWM unit (102a, b, c); or bypassing the time delays to the other ones of the plurality of PWM signals when a current limit or a fault condition occurs, or selecting the alternate PWM signal provided by the different delay circuitry.