We propose a simple control method for AC/DC and DC/AC conversions with zero voltage switching (ZVS) operation, which we call Optimal Trajectory Control (OTC). In the OTC, precise gate timing is calculated using the analysis of the state trajectory model for the converter. Therefore, the converter is operated without sensing zero current detection signal of the inductor current. Employing the OTC, we demonstrate a ZVS operation of 3.3kW bidirectional totem-pole converter with the switching frequency of around from 200kHz to 700kHz, whose power density is as high as 5.3W/cc. The peak efficiency of the AC/DC is 98.5%.