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A novel soft-switching hybrid converter combining the phase-shift full-bridge (FB) and half-bridge (HB) LLC resonant converters' configuration with shared zero-voltage switching (ZVS) lagging leg is proposed to ensure the switches in the lagging leg operating at fully ZVS condition. The dual outputs of the proposed hybrid FB-HB converter are connected in series and the whole dc-output voltage can be regulated by the PWM phase-shift control within the desired voltage range. A resonant circuit is used in the secondary side of the FB converter to reset the primary current during the freewheeling period, as well as to transfer more input energy and clamp secondary rectifier voltage. The proposed converter is attractive for hybrid electric vehicle/electric vehicle on-board charger applications. The principle of operation, the validity, and performance are illustrated and verified on a 3.7-kW experimental circuit. Experimental results show that the proposed converter can get good efficiency curves at different operation points, and the maximum efficiency is 98.30%.