A method of controlling a neutral-point-clamped inverter, comprising: receiving a target waveform for output voltage of an inverter phase; calculating a phase bias for an inverter phase using the target waveform; biasing the target waveform using the phase bias; and generating a switching device command signal by comparing the biased target waveform to a carrier waveform, such that the switching device command signal reduces midpoint current in an inverter input lead and common mode voltage in an inverter output lead; wherein calculating the phase bias further comprises: comparing an uncompensated midpoint duty cycle to a target midpoint duty cycle for a phase of the inverter; and wherein the uncompensated midpoint duty cycle for a phase of the inverter is calculated by consolidating output of low and high saturation blocks using the target waveform, wherein a low saturation block: replaces negative waveform values with zero, a high saturation block replaces positive values with zero and consolidating is done by subtracting the output of the low saturation block and adding the output of the high saturation block to a constant value of 1, wherein the target midpoint duty cycle is calculated by inverting and biasing the maximum of the absolute value of the target waveform wherein biasing the target waveform further comprises: generating a first reference signal using the target waveform and the low saturation block, generating a second reference signal using the target waveform and the high saturation block, subtracting the phase bias from the first reference signal, and adding the phrase bias to the second reference signal. receiving a target waveform for output voltage of an inverter phase; calculating a phase bias for an inverter phase using the target waveform; biasing the target waveform using the phase bias; and generating a switching device command signal by comparing the biased target waveform to a carrier waveform, such that the switching device command signal reduces midpoint current in an inverter input lead and common mode voltage in an inverter output lead; wherein calculating the phase bias further comprises: comparing an uncompensated midpoint duty cycle to a target midpoint duty cycle for a phase of the inverter; and wherein the uncompensated midpoint duty cycle for a phase of the inverter is calculated by consolidating output of low and high saturation blocks using the target waveform, wherein a low saturation block: replaces negative waveform values with zero, a high saturation block replaces positive values with zero and consolidating is done by subtracting the output of the low saturation block and adding the output of the high saturation block to a constant value of 1, comparing an uncompensated midpoint duty cycle to a target midpoint duty cycle for a phase of the inverter; and wherein the uncompensated midpoint duty cycle for a phase of the inverter is calculated by consolidating output of low and high saturation blocks using the target waveform, wherein a low saturation block: replaces negative waveform values with zero, a high saturation block replaces positive values with zero and consolidating is done by subtracting the output of the low saturation block and adding the output of the high saturation block to a constant value of 1, wherein the target midpoint duty cycle is calculated by inverting and biasing the maximum of the absolute value of the target waveform wherein biasing the target waveform further comprises: generating a first reference signal using the target waveform and the low saturation block, generating a second reference signal using the target waveform and the high saturation block, subtracting the phase bias from the first reference signal, and adding the phrase bias to the second reference signal. generating a first reference signal using the target waveform and the low saturation block, generating a second reference signal using the target waveform and the high saturation block, subtracting the phase bias from the first reference signal, and adding the phrase bias to the second reference signal.