This work presents a comparison of three different modulation techniques applied to modular multilevel converters (MMCs). The three modulation strategies studied in this paper are the phase-shifted sinusoidal pulse width modulation (PS-SPWM), the space-vector modulation (SVM) and the nearest level modulation (NLM). This paper focuses on analysing the particularities and implementation of each modulation technique. The modulation technique largely defines the generated harmonic content, making this is a key point that must be studied in depth. The paper briefly describes the three modulation techniques and analyses the harmonics generated by each one of the methods. In addition, the paper presents and compares the digital implementation of the three modulation methods in a Field Programmable Gate Array (FPGA). The proposed approaches are validated using a real processing platform and experimentally evaluated in a real high-power six-level MMC.