Zero-crossing current detection for modular and robust dynamic wireless power transfer

An inverter for wireless power transfer includes a primary inverter connected in series with a first primary inductor. A first primary capacitor is connected in parallel with the first primary inductor and primary inverter. A series-connected second primary capacitor and primary pad inductor are in parallel with the second primary capacitor. The synchronous inverter includes a controller configured to detect a first primary current in the first primary inductor to control switches in the primary inverter to provide a positive primary inverter voltage across the output of the primary inverter in response to detecting a positive first primary current, and control the switches in the primary inverter to provide a negative primary inverter voltage across the output of the primary inverter in response to detecting a negative first primary current.