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General block diagram models are proposed for PWM DC-DC converters in continuous and discontinuous conduction modes with fixed switching frequency. Both current mode control and voltage mode control are addressed in these models. Based on these models, detailed nonlinear and linearized sampled-data dynamics are derived. Asymptotic orbital stability is analyzed. Audio-susceptibility and output impedance are derived. In this approach, discontinuous conduction mode and current mode control can be analyzed systematically without special effort. A companion paper addresses the same issues for the power stage of a PWM DC-DC converter.