This application relates to audio driving circuits having good audio performance. The circuit (301) has a forward signal path between an input (103) for receiving an input audio signal (SIN) and an output (104) for outputting an output signal (SOUT) with an amplifier module (102) in the forward signal path. An error block (302) is arranged to receive a first signal (SFF) derived from the input signal and also a second signal (SFB) derived from the output signal and determine a first error signal (ε1) indicative of a difference between the first and second signals. A first processing module (204) is operable to generate a compensation signal (SC) to be applied to the input signal (SIN) upstream of the amplifier module (102) based on the first error signal. The error block (302) comprises a second processing module (303/303a) configured to apply a linear transfer function to one of the first signal or the second signals prior to determining the first error signal. In some embodiments the second processing module may apply a linear transfer function which is adaptive based on a second error signal (ε2) indicative of the error between the first and second signals after the linear transfer function has been applied.