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This study proposes several dynamic models for a DC-DC multilevel boost converter. A full-order non-linear dynamic model, a reduced-order non-linear model and a small-signal model are derived. These models are based on the equivalent circuits that depend on the switching states of the converter. In addition, an input-output feedback linearisation controller is derived and implemented. The stability of the closed-loop system is analysed. A Linux-based real-time software is employed for obtaining the experimental results of the closed-loop system.