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The substitution of the original switches by a full-bridge in a Non-Inverting Buck-Boost converter results in an inverter capable of performing step-down and step-up tasks under sliding mode control. Furthermore, semi-infinite programming techniques are used to minimize power loses while preventing control action saturation. The performance of the inverter is shown to be robust in front of load perturbations. The procedure assumes known bounds for the disturbances, as well as full statedoi:10.1109/isic.2007.4359679 fatcat:sui4wge2x5hqxibtesq2a6t63u