Disclosed techniques achieve soft-switching conditions by determining relative timing of switch states and events, and making recurring timing adjustments in successive cycles (i.e., cycle-by-cycle) to reduce timing errors that introduce switching losses. Timing adjustments provide a prediction of when an optimal soft-switching condition will exist during a subsequent cycle so that switch-actuation signals are provided, irrespective of inherent signaling and feedback delays, in advance of actually observing the condition, thereby subsequently changing a switching state within a desired threshold of the targeted soft-switching condition. Error in the prediction is observed and compensating corrections applied during the next cycle. The predictive nature of the timing corrections provides for rapid convergence on, and recurring refinement of, optimal timing parameters for multiple opposing switches that are coordinated so that the system (be it self- or forced-resonant circuitry) operates at high efficiency with minimal hard-switching or diode conduction losses.