An exemplary system includes a compressor, a condenser, an expander, and an evaporator fluidly coupled to form a vapor-compression circuit, and an electric motor configured to drive the compressor. An inverter having a plurality of switching elements is configured to provide an output voltage to the electric motor through operation of the switching elements. A waste heat recovery circuit is configured to transfer waste heat from the inverter to a load. A controller is configured provide switching commands to the switching elements of the inverter. The controller is further configured to sense a condition of the system, determine a heat production requirement based at least in part upon the system condition, and to vary the number of switching commands per unit time based at least in part upon the heat production requirement.