An electronic system, DC-DC voltage converter, method of operating a buck-boost DC-DC converter, and method for power mode transitioning in a DC-DC voltage converter are disclosed. For example, one method includes receiving a compensated error signal associated with an output voltage of the DC-DC voltage converter, determining a power mode of operation of the DC-DC voltage converter, and if the power mode of operation is a first mode, outputting a first control signal to regulate the output voltage of the DC-DC voltage converter. If the power mode of operation is a second mode, outputting a second control signal to regulate the output voltage of the DC-DC voltage converter, and if the power mode of operation is a third mode, outputting a third control signal to regulate the output voltage of the DC-DC voltage converter.