The present invention provides lossless switching by configuring the output inductor so that the ripple current amplitude at load conditions results in small negative current during switching. The reconfigured output inductor results in increased ripple current amplitude. This increased ripple amplitude may be further controlled using zero ripple steering techniques to eliminate ripple at the output capacitor. A ripple steering technique involves adding a secondary output to the class D amplifier which steers the switching ripple away from the main output thus substantially relieving the main output from a major artifact of prior art Class D amplifiers.