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This paper presents the development of a Class-D full-bridge zero-voltage switching (ZVS) inverter, applicable to wireless power transfer (WPT) systems, operating at 13.56 MHz switching frequency with dynamic dead-time control (DDTC). Resonant-coupled WPT systems are being designed at ultrahigh switching frequencies to reduce the size of the wireless link and the passive components. Maintaining ZVS while controlling the output power delivered to a fixed or variable load is one of the major challenges of designing inverters at multi-MHz switching frequencies. DDTC is the approach deployed in this paper to sustain soft switching of a Class-D full-bridge inverter over the full range of output power while regulating the input dc bus voltage. Simulation results are presented to show that dynamically controlling the dead-time during input dc bus voltage variations reduces switch-node voltage overshoot, prevents large current spikes in the switching devices, and reduces associated high switching loss. Practical results obtained show that DDTC reduces switch-node voltage overshoot, increases the inverter efficiency, and reduces the steady-state temperature of the inverter during output power regulation. [ABSTRACT FROM AUTHOR]