Hi,
Recently I got an application report as to the BUCK converter and I'm now preparing for the Digital Power Development. I went through it and have some questions as to the transfer function and need your help badly.
According to the parameters of this DC-DC controller design, the corresponding small signal power stage model of the buck converter in s-domain is derived as,

I can't understand how the corresponding analog controller Gc1(s) is derived, as shown below. Is it generated in the MATLAB?

By the way, what steps do I need to follow to develop a digital compensator? For example, a BUCK converter with two poles and two zeros.
Thank you and I'm looking forward to hearing from you.
Best regards,
Power Wang