1. A method for controlling a multiple output power converter, having a switched inductive circuit connected between a first polarity and a second polarity of a voltage source, and having a plurality of parallel capacitive circuits connected by a plurality of switches between a first node in the switched inductive circuit and the second polarity of the voltage source, the switched inductive circuit incorporating an inductor with inductance L having series resistance R s , each capacitive circuit i of the plurality of parallel capacitive circuits incorporating a resistor R i in parallel with a capacitor C i having capacitive resistance R Ci , the method using a PWM controller and comprising the steps of: receiving into the PWM controller, a plurality of output voltages y, including at least one output voltage from each parallel capacitive circuit in the plurality of parallel capacitive circuits, a plurality of reference voltages y 0 from a reference voltage source, a first current x 1 through the inductor, and a supply voltage u 0 from the voltage source; creating a plurality of difference voltages wherein each difference voltage represents the difference between an output voltage in y and a corresponding reference voltage in y 0 ; conditioning the plurality of difference voltages in the PWM controller with a gain characterized by a gain matrix K; creating a plurality of control signals having a plurality of duty ratios d, each control signal associated to a switch in the plurality of switches, where the plurality of duty ratios d are set according to: 
 d=−β −1 [K ( y−y 0 )−α]; where d is a vector and the matrix β, its inverse matrix β −1 and the vector α are determined by Cuk-Middlebrook state space averaging of the equations of state for y and x i ; constraining the plurality of control signals with a modulation condition and a linearization condition based on y, x 1 , y 0 , and u 0 ; controlling the multiple output power converter using the plurality of control signals.