A driving method for power semiconductor switches in an H-bridge circuit is provided. The method includes: calculating a start time and an end time of a zero level of an output voltage and determining a zero level section based on the start time and end time of the zero level; and driving an upper power semiconductor switch of a first bridge arm and an upper power semiconductor switch of a second bridge arm to be on simultaneously or driving a lower power semiconductor switch of the first bridge arm and a lower power semiconductor switch of the second bridge arm to be on simultaneously in the zero level section.

Controlling a stepper motor. A stepper motor is driven towards an index position. An attempt is made to stop the stepper motor on the index position in a fashion that would ordinarily cause the stepper motor to ring at the index position. Characteristics of one or more subsequent pulses that would counteract the ringing are determined. The one or more determined subsequent pulses are issued to the stepper motor.

Controlling a stepper motor. A stepper motor is driven towards an index position. An attempt is made to stop the stepper motor on the index position in a fashion that would ordinarily cause the stepper motor to ring at the index position. Characteristics of one or more subsequent pulses that would counteract the ringing are determined. The one or more determined subsequent pulses are issued to the stepper motor.