A DC-to-DC, buck-boost voltage converter includes a duty cycle controller configured to generate control signals for a buck driver configured to drive first and second buck switching transistors at a buck duty cycle and to generate control signals for a boost driver configured to drive first and second boost switching transistors at a boost duty cycle. The duty cycle controller includes at least a duty cycle timer and an offset timer where the duty cycle controller applies the duty cycle timer and the offset timer to control transitions between the buck, the buck-boost and the boost operation modes of the voltage converter.