A DC-DC voltage converter includes an input circuit, a parallel linked leg (PLL), an output circuit and a controller. The PLL includes an active leg switch, a leg inductor, a leg capacitor and a leg diode. The controller is configured to i) turn on the active input switch and the active leg switches while maintaining the active output switch at a turn off state for the first duty cycle period ii) turn off the active input switch and the active leg switches, and turn on the active output switch for a second duty cycle period following the first duty cycle period, and iii) turn off the active output switch while maintaining also turn off states of the active input switch and the active leg switches for a remaining period following the second duty cycle period. A method of controlling the DC-DC converter includes steps of i) to iii).