Conclusions

My conclusions about this circuit:

This circuit can deliver a lot of power but it needs serious cooling if you want to control big loads with it. Many power gets lost as heat, so this circuit is probably not the most ideal solution.
The used FETs are quite expensive and have some drawbacks. It might be better to stick with relays for the polarity reverser. You can also just skip the reverser part if you don't need it.
The input control voltage is not 'adjusted'. If you need to control a 0-10 V output, you need a 0-10 V input.
For medium power applications it probably would be better to use a power opamp. There are power opamps that can deliver more than 1 Ampères.