H bridge would always be better depending on of course your application bare in mind that H Bridge can be pwm controlled meaning variable speed ,reversing of motor etc plus of course these days we look for solid state control to avoid mechanical switching less mechanical in some cases not all means we have supposedly less to go wrong although you could argue this extensively As far as reliability is concerned with modern day semiconductors H bridge tends to be very reliable In high voltage applications this might be extensively different
For robotics H bridge is the ideal answer since we have far more control over torque motor speeds and more obviously its all CPU controlled
Typical applications also now include class D audio although not for motor control
H Bridge is now used extensively in class D amplifiers since the heat factor is negligible more power , more efficiency less heat , more reliable , less components
Other applications include wheel chairs, mobility scooters lift mechanisms for stairs etc etc for people that have mobility problems More control , safer , low voltage applications higher torques
Also you can slot into this milling machines , plotting machines printers etc etc Lots of everyday equpment uses H bridge control