How to design a DC-DC Control Loop?

How to design a DC-DC Control Loop?

http://yourcircuits.com/inc/sdetail/3536

Details:
Designing the compensation network in a DC/DC converter can be a mystery if one does not know where to place the poles and zeros of the error amplifier and how much gain the error amp needs. Normally, a lot of trial and error is used to try to stabilize the control loop of a DC/DC converter. Here's a systematic approach to getting the job done.

From the website : www.YourCircuits.com