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A novel control scheme applicable to in-road inductive wireless charging pads in a dynamic system is presented. Primary inverter current sensing allows the primary pad to detect an approaching secondary pad. Zero-crossing detection of the same current allows the primary to synchronize to the secondary, functioning as a synchronous inverter with dual-active switching. Such primary synchronous inverters allow for independent primary pads. Necessary measures to ensure stable operation of the design are discussed. The control scheme only adds an analog filter to the bare-bones open-loop design. The design is validated through simulation and hardware experimentation, with a strong demonstration of robustness.