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A frequency compensation technique for MOS audio power amplifiers is presented that allows the frequency compensation capacitors around the power transistors to be smaller than the circuit parasitics without power or stability penalty. Stability is analysed by inspecting the output impedance of the closed loop amplifier, instead of the traditional open-loop gain. By degenerating the gain of the penultimate stage, the output impedance is shaped such that the stability of the audio amplifier is guaranteed for complex loudspeaker loads. The realized amplifier features a THD of 0.005% @ (1 kHz, 10 W), an SNR of 110 dB(A), and stable operation for any passive load up to 50 nF.