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A general approach for controlling pulse-width-modulated (PWM) -type switching DC-DC converters digitally using state-feedback techniques and linear optimal control theory is reported. The methodology for redesigning the state estimator is investigated, and a method derived from the general linear-quadratic-regulator (LQR) problem, is proposed. The method is found to offer better transient responses and robustness to uncertainties in plant parameters when compared with the typical eigenvalue-assignment method. Special attention is directed to plant models with possible migrations of the open-loop zeroes across the stability boundary during operation. Results of applying these techniques to a published Cuk converter are reported to illustrate different points of interest.< >