Here we use perturbation techniques based on the averaging method to investigate Rabi oscillations in cw and pulse-driven two-level systems (TLSs). By going beyond the rotating-wave approximation, especifically to second-order in perturbation, we obtain the Bloch-Siegert shift of the TLS resonant frequency, in which the resonant frequency increases with the driving field amplitude. This frequency shift implies that short resonant $pi$-pulses in which the Rabi frequency is approximately 40% or higher of the transition frequency do not achieve complete inversion in TLSs. Hence, guided by analytical results based on the averaging technique, we propose two methods for obtaining population