“…In this article we address the robust output regulation problem for a family of nonlinear power converters with two control switches that includes the NonInverting Buck-Boost NIBB , the Watkins-Johnson WJ , the Inverse of Watkins-Johnson IWJ and the Full-Bridge NonInverting Buck-Boost FBNIBB . The NIBB, the WJ and the IWJ are among the class of eight elementary single-input i.e., possessing a single voltage source singleoutput converters containing a single inductor 7 , while the FBNIBB is derived through the substitution of the original switches by a full-bridge in a NIBB 7,8 . The converters being nonlinear, the first thought may be to face the problem by means of nonlinear output regulation techniques. However, performing a change of control variable the resulting system appears to be linear.…”