This paper presents a self-balancing technique for voltage sharing of series-connected insulated gate bipolar transistors (IGBTs). Each series IGBT is augmented with an auxiliary switch, which operates in complementary to the main one, and a capacitor in series. When gate signal delays, based on the capacitor voltage feedbacks, are applied to the series modules, their voltage sharing can be balanced. The delays are generated with local controllers without DSP/FPGA, regardless of parasitic element distribution, thermal characteristics of the devices, or current amplitudes. Since there is no resistive element in the auxiliary branch, the balancing circuit is low-loss. Detailed descriptions of the circuit and modes of operation are provided and illustrated with simulation models. Experimental results with 10 series modules at different voltage levels are presented to demonstrate the principle of control and the performance of the proposed technique.