This reference design is a 48-V/15-A, GaN based 3-phase inverter, test under 80-kHz PWM. GaN as the 3.gen semiconductor material, more and more robot and servo manufacturers are beginning exploring the use of GaN in motor drives. Through integrated driver, TI GaN device can achieve smaller size and without influence of parasitic parameters. INA241 as the next gen of INA240 (High common mode amplifier), has better offset and common mode rejection ratio (CMRR), with "Enhanced PWM Rejection" can achieve better current sensing performance.