A DC to DC converter comprises voltage regulation circuitry for generating at least two output voltages responsive to an input voltage. The voltage regulation circuitry further includes a plurality of main switches connected to receive the input voltage. A plurality of auxiliary switches is connected to provide the at least two output voltages. A single inductor is connected between the plurality of main switches and the plurality of auxiliary switches. A dual-output PWM controller provides a first PWM control signal for controlling the operation of the plurality of main switches responsive to a first feedback voltage from a first output voltage using a first control loop and provides a second PWM control signal for controlling the operation of the plurality of auxiliary switches responsive to a second feedback voltage from a second output voltage using a second control loop. Current mode control can be used for each control loop to reduce the cross regulation problem.