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LM5141QRGEVM: Current sensing input RC filter

Part Number: LM5141QRGEVM

Hi Power Experts, 

I have a couple of questions regarding the current sensing circuit highlighted in the below diagram,

Do we need to have the RC filter for the current sense input. What is the effect on the performance if the RC filter is not used?

Can you also help us understand the effect on the DC/DC performance if we do not follow the kelvin sensing.

Thank you for the guidance.

Regards,

Sreenivasa