The control of the switch timing most of the time has to be relied on hardware circuit rather than pure software algorithms. For example, dead-band control is given as a parameter to some sort of hardware timer so it can control the mosfet at the exact moment. As a system designer, one would rather use a off-the-shelf H-Bridge driver to achieve the purpose.
One of the key design consideration when designing the PWM outputs for such kind of a bridge for motor control is the importance of the "dead Band" ; that is ensuring that transistors T1 and T2 ( or for that matter t3 and t3 also) do not conduct simultaneously.
This Dead-Band protection has to be incorporated in the micro controller providing the required PWM outputs since individually controlling the 4 PWMs by software can be tricky.
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