Quick Errata: In the lecture recording, I was asked about how to spec the LC filter on the output of the Class-D amplifier, and mistakenly said that we're trying to filter out the harmonics of the switching frequency, but leave the fundamental. This is untrue. We're trying to filter out the switching frequency and its harmonics, but leave the spectra belonging to our input signal alone. I didn't draw the spectra of our input on the Bode plot I drew on the blackboard which is my mistake, but if I did we'd see another peak far below the switching frequency. And that's the peak we'd want to preserve, while smearing out everything else. -fischerm

Quick Errata: In lecture a student asked towards the end "we should figure out why the diode blew right?" This is CORRECT because after-all the root cause of the problem was the fact that the diode blew causing the relay to blow, causing precharge to fail, causing the contactor to weld, causing the overcurrent error during startup. I want to explain WHY I didn't address the question in detail because as engineers we should find out why the diode blew. The answer is I DON'T KNOW why the diode blew. We tried debugging that for some time, we tried going through the circuit to see what could have caused the diode to blow and came up empty. The best explination we had was it was an old diode, and maybe it just failed. It's unsatisfying for sure. If I do find a better explination, I'll update it here. -adim