In described examples, a method of generating a pulse width modulation (PWM) signal includes repeatedly master control counting, by a master control counter generator, which includes one or both of incrementing and decrementing a master control counter with a minimum value and a maximum value, and repeatedly slave control counting with a phase delay with respect to the master control counting, and during a transition period, slave control counting to a new maximum value or a new phase delay. A maximum count of the transition period is selected to result in the transition period reaching the minimum value at the new phase delay count. The PWM signal is generated by generating rising edges when the slave control counter reaches a rising edge threshold, and generating falling edges when the slave control counter reaches a falling edge threshold.