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A dynamic study of the DC/DC series-parallel resonant converter operating with a discrete self-sustained phase-shift modulation technique is presented. The study includes the synthesis of a suitable averaged large-signal dynamic model and the design of a nonlinear feedback controller based in the input-output linearization approach. The proposed controller and modulation type provide some outstanding features: zero-voltage switching operation for the whole load range, narrowed frequency variation range, fast transient response, and robustness in relation to external parameter variations. Experimental and simulation results are reported to validate the theoretical predictions and confirm the superior performance of the nonlinear controller when it is compared with a conventional linear controller.