A Class-D amplifier includes an analog-to-digital converter (ADC) having a first input node. The ADC receives a first analog input signal and a first feedback signal at the first input node and generates a first digital signal based on the first analog input signal and the first feedback signal. A digital filter generates a second digital signal based on the first digital signal. An output circuit includes a first output node, the output circuit being configured to generate a first output signal at the first output node based on the second digital signal. A first feedback unit generates the first feedback signal as the first output signal scaled by a gain factor having a constant value in the Z-domain.