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 comprising respectively a first, a second and a third carrier generator 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 further comprising a deadtime generator 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 of respective first, second and third PWM generators 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 comprising respectively a first, a second and a third carrier generator 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 further comprising a deadtime generator 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 of respective first, second and third PWM generators 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. <EOS>