A system for controlling a multilevel soft switching power converter including a DC bus, a pair of switching arms, and a controller is disclosed. The DC bus has a positive rail and a negative rail operable to have a voltage potential present across the DC bus. Each switching arm is connected between the positive rail and the negative rail and includes four soft switches. Each soft switch is connected between the positive rail, the negative rail, or one of three intermediate connections between the positive and negative rails. Each soft switch is also controlled by a gating signal. A flying capacitor is connected between the first intermediate connection and the third intermediate connection and an output terminal is connected at the second intermediate connection of each switching arm. A controller is operable to generate each of the gating signals utilizing at least three control routines.