Systems and methods to control pulse welding are disclosed. An example welding-type system includes: power conversion circuitry configured to convert input power to welding-type power; and control circuitry configured to control the power conversion circuitry to output the welding-type power in a plurality of pulse cycles, each pulse cycle comprising a background phase, a ramp up phase, a peak phase, and a ramp down phase. Controlling the power conversion circuitry involves: during the ramp up phase of the pulse cycles, controlling the power conversion circuitry in a current-controlled mode and switching to controlling the power conversion circuitry in a voltage-controlled mode when a peak transition voltage is reached; and during the ramp down phase of the pulse cycles, controlling the power conversion circuitry in a current-controlled mode and switching to controlling the power conversion circuitry in a voltage-controlled mode when a background transition voltage is reached.