An intuitive explanation of the basic concepts and theory of PWM converters controller design. This is a first part of a two parts lecture.\
Please note an error at https://youtu.be/L3MRnEYdi8g?t=974 . The Bode plot shows a negative phase margin (more that 180 Deg total phase shift - after subtracting 180 Deg) while the Nyquist shows a positive phase margin (less than 180 Deg total phase shift).