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The Pound–Drever–Hall (PDH) cavity-locking scheme has found prevalent uses in precision optical interferometry and laser frequency stabilization. A form of frequency modulation spectroscopy, PDH enjoys superior signal-to-noise recovery, large acquisition dynamic range, wide servo bandwidth, and robust rejection of spurious effects. However, residual amplitude modulation at the signal frequency, while significantly suppressed, still presents an important concern for further advancing the state-of-the-art performances. Here we present a simplified and improved scheme for PDH using an acousto-optic modulator to generate digital phase reference sidebands instead of the traditionally used electro-optic modulator approach. We demonstrate four key advantages: (1) the carrier and two modulation tones are individually synthesized and easily reconfigured, (2) robust and orthogonal control of the modulated optical field is applied directly to the amplitude and phase quadratures, (3) modulation synthesis, demodulation, and feedback are implemented in a self-contained and easily reproducible electronic unit, and (4) superior active and passive control of residual amplitude modulation is achieved, especially when the carrier power is vanishingly low. These distinct merits stimulate new ideas on how we optimally enact PDH for a wide range of applications.