I think your lecturer has combined two different problems. For audio frequencies you can use any class of amplifier you want, they can all work to the same specification, some classes are extremely inefficient i.e. 20 watts in for every watt out, so the amplifier gets hot and needs some method of getting rid of the heat - fans and big heatsinks.
The problem comes with radio frequencies when you are trying to deliver power to a remote load via cables. The cables contain parasitic capacitance and series inductance, so if the cable is long enough, the ratio of the voltage on it divided by the current, give a characteristic impedance in ohms of say 50 -100 ohms. If both the load and the amplifier do not present the right ( characteristic) impedance to the line, the line turns into a tuned circuit and different frequency go through it with different losses.
Frank