Title: Bounding the output error in a buck power converter using perturbation theory Authors: Fabiola Angulo, Tere M.Seara, Enric Fossas, Gerard Olivar Abstract: In this paper we show the main results obtained when applying the average theory to Zero Average Dynamic control technique in a buck power converter with PWM. In particular we have obtained the bound values for output error and sliding surface. The PWM with centered and lateral pulse conīgurations were analyzed. The analytical results have conīrmed the numerical and experimental results already obtained in previous publications. In the last section we have generalized the theory for any second order system with relative degree 2, which can be controlled with this technique.