A method for generating switching commands in a motor drive, the method comprising the steps of: determining a modulation index for a modulation routine in the motor drive; determining a first percentage of time within a switching period as a function of the modulation index, wherein the first percentage of time corresponds to an active state for the modulation routine; and determining a second percentage of time within the switching period as a function of the modulation index, wherein: the second percentage of time corresponds to a zero state for the modulation routine in the motor drive, the zero state includes a first zero state and a second zero state, the modulation routine divides the zero state between the first zero state and the second zero state, performing a first operation mode when the modulation index is less than an upper setpoint (M 2 *) the first zero state is used for a first portion of the zero state, the second zero state is used for a second portion of the zero state, the first portion of the zero state is not equal to the second portion of the zero state, and both the first portion and the second portion of the zero state are non-zero, and performing a second operation mode when the modulation index is greater than the upper setpoint the first zero state is used for the first portion of the zero state, the second zero state is used for the second portion of the zero state, and the first portion of the zero state is equal to the second portion of the zero state, wherein the upper setpoint is less than or equal to fifty percent of a maximum modulation index, and performing at least one transition between the first operation mode and the second operation mode. determining a modulation index for a modulation routine in the motor drive; determining a first percentage of time within a switching period as a function of the modulation index, wherein the first percentage of time corresponds to an active state for the modulation routine; and determining a second percentage of time within the switching period as a function of the modulation index, wherein: the second percentage of time corresponds to a zero state for the modulation routine in the motor drive, the zero state includes a first zero state and a second zero state, the modulation routine divides the zero state between the first zero state and the second zero state, performing a first operation mode when the modulation index is less than an upper setpoint (M 2 *) the first zero state is used for a first portion of the zero state, the second zero state is used for a second portion of the zero state, the first portion of the zero state is not equal to the second portion of the zero state, and both the first portion and the second portion of the zero state are non-zero, and performing a second operation mode when the modulation index is greater than the upper setpoint the first zero state is used for the first portion of the zero state, the second zero state is used for the second portion of the zero state, and the first portion of the zero state is equal to the second portion of the zero state, wherein the upper setpoint is less than or equal to fifty percent of a maximum modulation index, and performing at least one transition between the first operation mode and the second operation mode. the second percentage of time corresponds to a zero state for the modulation routine in the motor drive, the zero state includes a first zero state and a second zero state, the modulation routine divides the zero state between the first zero state and the second zero state, performing a first operation mode when the modulation index is less than an upper setpoint (M 2 *) the first zero state is used for a first portion of the zero state, the second zero state is used for a second portion of the zero state, the first portion of the zero state is not equal to the second portion of the zero state, and both the first portion and the second portion of the zero state are non-zero, and performing a second operation mode when the modulation index is greater than the upper setpoint the first zero state is used for the first portion of the zero state, the second zero state is used for the second portion of the zero state, and the first portion of the zero state is equal to the second portion of the zero state, wherein the upper setpoint is less than or equal to fifty percent of a maximum modulation index, and performing at least one transition between the first operation mode and the second operation mode.