The main objective of this paper is to provide a thorough analysis of currently used modulation control schemes for single-phase bidirectional dual active bridge DC/DC converters. In this article, it will be shown that single phase shift, extended phase shift and dual phase shift modulation schemes are special cases of the triple phase shift (TPS) modulation scheme. The article aims to highlight six TPS switching modes and their complements with operational constraints. Unlike previous studies that regarded TPS as a complex scheme, this paper simplifies the analysis of each mode and aims to standardize the understanding of TPS modulation for dual active bridge (DAB) converters. Power equations, range of power transferred and zero-voltage switching (ZVS) are derived for all the modes under TPS without assuming fundamental component analysis. Additionally, a generic optimization algorithm is developed to show the advantages of TPS modulation, and thus, the analysis in this paper offers a valuable insight for single-phase DAB converter designers in identifying a wide range of optimization algorithms to achieve higher efficiency under TPS modulation. This analysis contributes to the advancement of bidirectional DAB converter technology and facilitates its application in various power electronic systems.