A buck-boost converter with a switch controller may cause switches A, B, C, and/or D to cyclically close such that switches B and C are closed during at least one interval of each cycle during both the buck and boost modes of operation. The switch controller may in addition or instead cause switches A, B, C, and/or D to cyclically close based on a control signal such that switches A and D are closed during an interval of each cycle and such that these intervals are never both simultaneously modulated by a small change in the control signal during any mode of operation.