A power converter including a resonant circuit is controlled by pulse width modulation (PWM) of a switching circuit to control current in the resonant circuit near the frequency of the resonant circuit (a null-immittance criterion) in order to control current and voltage at the output of the resonant circuit. Further control of voltage can be performed by PWM of a switching circuit at the output of the resonant circuit such that centers of the duty cycles of respective switches for the output of the resonant circuit are substantially synchronized and substantially symmetrical about centers of said duty cycles of respective switches at the input of the resonant circuit. Thus, operation of the converter is substantially simplified by using only PWM, a wide range of input and output voltages can be achieved and the converter circuit can be configured for bi-directional power transfer.