Systems and methods are described for full bridge integral noise shaping for quantization of pulse width modulated signals. A method for full bridge integral noise shaping comprises: receiving a first and a second reference PWM signal; summing the first and second reference PWM signals with a quantization error correction; quantizing the sum into a first and a second output PWM signal; differentially integrating the first and second reference PWM signals and the first and second output PWM signals according to a full bridge integral noise shaping algorithm to obtain the quantization error correction. An apparatus for performing a full bridge integral noise shaping quantization of a pulse modulated signal, includes: a single-ended to differential conversion circuit; and a full bridge INS quantizer circuit, coupled to the single-ended to differential conversion circuit.