For controlling a direct current to direct current (DC-DC) converter, a controller individually switches a charge switch and a discharge switch to control a duty cycle, thereby providing a regulated DC output. A delay in switching each one of the charge and discharge switches results in a formation of a DC error in the regulated DC output. The controller adjusts the duty cycle by adding a delay compensation to substantially eliminate the DC error. The delay compensation substantially eliminates the DC error by decreasing an average value of the regulated DC output to offset an increase in the average value of the regulated DC output without the delay compensation.