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Since the DC-DC boost converter exhibits highly nonlinear and non-minimum phase properties, it is not an easy task to design a controller that is robust against load perturbations. This paper presents a dynamic output feedback controller for a DC-DC boost converter that has a practical inductor and a series resistance. In order to maintain its robust output voltage regulation, the proposed controller adopts a simplified parallel-damped passivity-based controller (PD-PBC). A complementary proportional-integral-differential (PID) controller to the PD-PBC has been designed for removing the steady state error owing to the parasitic resistance. We present sufficient conditions for the asymptotic stability of the augmented system with an additional dynamic system. Computer simulations and experimental tests under reference step changes and load perturbations confirm the improved performance of the proposed approach.