Nonsense. Not only that I don't know what they mean by "Pumping back the energy" in half bridge configuration (that I use all the time) but at least they don't mention limited resolution. Such statements:
Their conclusion:
However, the differential output structure of the bridge topology inherently can cancel even the order of harmonic distortion components and DC offsets, as in Class AB amplifiers. A fullbridge topology allows of the use of a better PWM modulation scheme, such as the three level PWM which essentially has fewer errors due to quantization.are gibberish. Just in case your'e interested Icepower is Full Bridge while Hypex is Half bridge. Which one is better - let your ears to be the judge. Full bridge places half of the supply voltage on the speaker wires all the time. Look at incredibly low THD and IMD specifications (and measured data) of class D amps - not possible with non-linear amplifiers. In all this discussion about errors (power supply voltage or dead time) author forgets about negative feedback (dual in Icepower amps). Without this feedback class AB amps would sound like shit.
Their conclusion:
Highly efficient Class D amplifiers now provide similar performances to conventional Class AB amplifier