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Clock driven Class-D audio amplifier

Hello,

This is with reference to the TI PWM modulator as described in document # SLAU508.

Can this modulator be used as the first building block in a discreet class-d audio amplifier?

I will need an output power stage consisting of mosfet drivers, output mosfets and filtering.

If my output power stage is non-inverting, can I use the amplifier output, with proper scaling as the feedback signal to resistor R4, instead of the U2A output?

If a similar exercise is already done, then kindly link me to it.

Thanks in advance and regards,

Ravindra Desai.