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Average models of PWM regulated DC/DC converters can be derived using Euler-Lagrange (EL) system equations. An EL average model for DC/DC buck-type converter was established based on its physical potential energy functions. The passivity-based controller for the converter was then developed. The controlling method is to modify the potential energy function and the required loss dissipation function of the close loop system by introducing a suitable stabilizing damping injection scheme. A simulation was developed and the dynamic responses of the system under step input and load were obtained and analyzed.