A method of controlling an inverter includes receiving a target waveform for output voltage of an inverter phase, calculating a phase bias for an inverter phase using the target waveform, biasing the target waveform using the phase bias, and generating a switching device command signal by comparing the biased target waveform to a carrier waveform. The switching device command signal has a switching patter that reduces midpoint current in an inverter input lead and common mode voltage in an inverter output lead.