This invention relates to new soft-switching techniques for minimizing switching losses and stress in power electronic circuits using inverter legs. By choosing the switching frequency with specific relationships with the resonant frequency of the power electronic circuits, the proposed switching technique enables the power electronic circuits to achieve soft switching under full load and short-circuit conditions at the defined frequencies for both capacitive and inductive loads. This technique can be applied to an electronic circuit with two switches connected in totem pole configuration between two dc voltage rails or commonly known as a power inverter leg or inverter arm. Examples of these circuits are class-D power converter, half-bridge power converters and full-bridge power converters or inverters. The proposed techniques allow inverter circuits with resistive, capacitive and inductive loads to achieve soft switching.