A PWM driving method for a PWM motor control system with zero-crossing compensation, wherein the PWM motor control system comprises: a three-phase AC motor, a power inverter comprising three half-bridges, each half-bridge comprising a first transistor (T 1, T 3, T 5) connected to a common given voltage (V PWR) and a second transistor (T 2, T 4, T 6) connected to a reference point (GND PWR), each phase of the AC motor being connected to respective nodes (n1, n2, n3) of the corresponding half bridge, and a controller comprising three PWM generators (21a, 21b, 21c) comprising respectively a first, a second and a third carrier generator (24a, 24b, 24c) configured to generate a first, a second and a third carrier signal (PWM car1, PWM car2, PWM car3) respectively for generating a first, a second and a third PWM signal (PWM 1, PWM 2, PWM 3), each PWM generator (21a, 21b, 21c) further comprising a deadtime generator (22a, 22b, 22c) configured to transform each PWM signal (PWM 1, PWM 2, PWM 3) into a first and a second inverted square wave signal with deadtimes ( t d1, t d2) to control respectively said first and second transistors (T 1, T 2; T 3, T 4; T 5, T 6) of respective half-bridges, the method being characterised by consisting in controlling each carrier generator (24a, 24b, 24c) of respective first, second and third PWM generators (21a, 21b, 21c) to generate a carrier offset between each of said first, second and third carriers (PWM car1, PWM car2, PWM car3), at least when the current (I 1, I 2, I 3) flowing in respective phase of the AC motor is between +/- 10mA, such that the voltage (V ph1,V ph2,V ph3) between the node (n1, n2, n3) and the reference point (GND PWR) of the respective half-bridges are offset to obtain a variable common mode voltage (V CM) each time the respective PWM signals (PWM 1, PWM 2, PWM 3) are in an off-state, at least when said current (I 1, I 2, I 3) is crossing zero. a three-phase AC motor, a power inverter comprising three half-bridges, each half-bridge comprising a first transistor (T 1, T 3, T 5) connected to a common given voltage (V PWR) and a second transistor (T 2, T 4, T 6) connected to a reference point (GND PWR), each phase of the AC motor being connected to respective nodes (n1, n2, n3) of the corresponding half bridge, and a controller comprising three PWM generators (21a, 21b, 21c) comprising respectively a first, a second and a third carrier generator (24a, 24b, 24c) configured to generate a first, a second and a third carrier signal (PWM car1, PWM car2, PWM car3) respectively for generating a first, a second and a third PWM signal (PWM 1, PWM 2, PWM 3), each PWM generator (21a, 21b, 21c) further comprising a deadtime generator (22a, 22b, 22c) configured to transform each PWM signal (PWM 1, PWM 2, PWM 3) into a first and a second inverted square wave signal with deadtimes ( t d1, t d2) to control respectively said first and second transistors (T 1, T 2; T 3, T 4; T 5, T 6) of respective half-bridges, the method being characterised by consisting in controlling each carrier generator (24a, 24b, 24c) of respective first, second and third PWM generators (21a, 21b, 21c) to generate a carrier offset between each of said first, second and third carriers (PWM car1, PWM car2, PWM car3), at least when the current (I 1, I 2, I 3) flowing in respective phase of the AC motor is between +/- 10mA, such that the voltage (V ph1,V ph2,V ph3) between the node (n1, n2, n3) and the reference point (GND PWR) of the respective half-bridges are offset to obtain a variable common mode voltage (V CM) each time the respective PWM signals (PWM 1, PWM 2, PWM 3) are in an off-state, at least when said current (I 1, I 2, I 3) is crossing zero.