Symmetric 4-space vector pulse width modulated waveform generation

A method for activating a voltage source inverter, the voltage source converter including three pairs of transistors, each such pair of transistors being connected serially between a voltage source and ground, the activation of a first transistor in each such pair of such transistors causing a voltage to be applied to a respective one of the three parts of a three-phase load, the selection and duration of activation of such first transistors during each of a continuing series of periods being represented by six non-zero vectors and two zero vectors U0, U60, U120, U180, U240, U300, and two zero vectors 0(000), 0(111).