In this paper, a modified selective harmonic mitigation pulse amplitude modulation (SHM-PAM) is presented to be capable of canceling all triplen harmonic orders and suitable for single-phase application of five-level type of voltage source inverters. To this end, a new constraint is established for the two switching angles (α ₁, α ₂) to derive the new formula for the harmonics' amplitude, which results in self-elimination of all triplen harmonics (e.g., 3rd, 9th, 15th,...). The fifth and seventh harmonic orders are mitigated through normal operation of the proposed SHM-PAM technique. It is also shown that the proposed technique is extendable to other multilevel voltage waveforms and a flowchart of self-elimination of all triplen harmonics has been presented. Mathematical analysis supported by experimental investigations show the desired performance of the proposed SHM-PAM algorithm on a two-cell single-phase cascaded H-bridge inverter as a typical five-level configuration in dealing with linear and nonlinear loads. Then, it is demonstrated that the maximum number of harmonic orders would be controlled with the minimum number of available angles in a low switching frequency voltage waveform.