In this paper, a Continuous Proportional Integral controller is designed for the DC-DC Synchronous Buck Converter, which provides stable average output voltage and inductor current against load or setpoint changes. The control method relies on Average Current Mode Control, tuning the parameters in the frequency domain using a step-wise Loop Shaping process before discretizing the controller. For accurate control, the non-idealities of the Synchronous Buck Converter have been included in its mathematical model. All inherated time delays caused by Analog/Digital conversion, computation, Zero-OderHold and Pulse-Width-Modulation are also considered. Finally, the software tool PSIM is used to obtain the simulation result of the controller