The present invention is a switching power converter that supports both a boost mode of operation and a buck mode of operation, uses one energy storage element, transitions smoothly between boosting and bucking, and avoids simultaneous boosting and bucking. The switching power converter uses a common duty-cycle timing signal and a common duty-cycle setpoint signal to provide a smooth transition between boosting and bucking, and to eliminate overlap between boosting and bucking. A voltage input error integrator is used to integrate out errors between an output voltage and a setpoint voltage to provide the common duty-cycle setpoint signal. Duty-cycle error integrators are used to integrate out errors between the common duty-cycle setpoint signal and the actual duty-cycle of either the buck converter or the boost converter. Non-overlapping boost operating and buck operating ranges are provided by the common duty-cycle setpoint signal.