A method for estimating an output voltage of a power converter comprises sensing a voltage waveform representative of the output voltage; and detecting a first gap and a second gap. The first gap is between a time when the sensed voltage waveform crosses a first voltage reference and a time when the sensed voltage waveform crosses a second voltage reference at a voltage offset below the first voltage reference. The second gap is between a time when the sensed voltage waveform crosses a third voltage reference and a time when the sensed voltage waveform crosses the second voltage reference, the third voltage referenced at a predetermined voltage above the second voltage reference. Responsive to the first gap exceeding a threshold, a tracking error is computed based on the first gap; and responsive to the first gap not exceeding the threshold, the tracking error is computed based on the second gap.