A resonant impedance sensing system includes a negative impedance control loop incorporating the resonator as a loop filter, and including a class D negative impedance stage implemented with a class D comparator, and a loop control stage implemented with an output comparator clocked (D_clk) by the class D comparator. The class D comparator receives resonator oscillation voltage, and generates a class D switching output synchronized with resonator oscillation frequency. A discrete current source (such as a current DAC) drives the resonator through an H-bridge switched by the class D switching output, so that the time average of the discrete drive current corresponds to resonator oscillation amplitude. Based on resonator oscillation amplitude, the output comparator provides a discrete loop control signal to the discrete current source, driving the resonator with a negative impedance that balances resonant impedance, thereby maintaining constant resonator oscillation amplitude corresponding to steady-state oscillation.