Efficiency in a dual-active bridge of a DC-DC stage

A method comprises: providing, in an onboard charger of an electric vehicle, a direct current (DC) to DC stage including a dual-active bridge having switches arranged in multiple legs, each of the multiple legs controlled by a corresponding one of pulse width modulation (PWM) signals; and dynamically modulating the PWM signals to improve zero voltage switching (ZVS) in the onboard charger.