A buck-boost converter with smooth transitions is disclosed. A buck-boost converter controller is disclosed including a first high side driver switch gate control signal output for controlling a first high side driver device; a first low side driver switch gate control signal output for controlling a first low side driver device; a second high side driver switch gate control signal output for controlling a second high side driver device; a second low side driver switch gate control signal output for controlling a second low side driver device; a state machine having four states comprising a buck state, a boost state, a transition buck state, and a transition boost state; a hysteresis timer indicating a pulse width greater than a predetermined threshold coupled to the state machine; and a minimum timer indicating a pulse width less than a predetermined threshold coupled to the state machine. Methods are also disclosed.