A control system for a DC to DC converter includes a predicted state generator module, a voltage estimation module, an error module, and a pulse width modulation (PWM) module. During a prior sampling period, the predicted state generator module generates a predicted capacitor voltage and a predicted capacitor current for a current sampling period. The voltage estimation module generates an estimated value of an output voltage of the DC to DC converter during the current sampling period based on the predicted capacitor current, the predicted capacitor voltage, a delay value, and a duty cycle value for the prior sampling period. The error module generates a voltage error value based on difference between a measured value of the output voltage and the estimated value. The PWM module controls the duty cycle of the DC to DC converter based on the voltage error value.