Systems and methods for removing or reducing distortion in an ultrasonic audio system can include receiving a first audio signal, wherein the first audio signal represents audio content to be reproduced using the ultrasonic audio system; calculating a first error function for the ultrasonic audio system, the first error function comprising an estimate of distortion introduced by reproduction of the audio content by the ultrasonic audio system; transforming the first audio signal into a first pre-conditioned audio signal by combining the first error function with the first audio signal; and modulating the transformed audio signal onto an ultrasonic carrier.