A class-D amplifier includes an analog-to-digital converter (ADC) configured to generate a first digital signal based on an analog input signal and a feedback signal received at an input node. A loop filter is configured to modify the first digital signal by moving an error of the ADC out of a predetermined frequency band, and a compensation filter is configured to further modify the first digital signal by introducing one or more poles or zeros, thereby generating a second digital signal. An output circuit is configured to generate an output signal at an output node based on the second digital signal, and the feedback signal is generated from the output signal.