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TPS54233 Excessive output ripple

Other Parts Discussed in Thread: TPS54233

I am using a TPS54233 switcher to convert 24Vdc to 4Vdc, 1A.  I used WEBENCH to design the circuit.  I'm getting a sawtooth ripple of 500mVpp.  This is caused by the switch alternating between min and max duty cycle for each pulse.  The output cap was specified to be 2x 56uf and I used a single 100uf cap.  When I increase the cap to 470uf, the duty cycle becomes stable with minimal ripple.  Can anyone explain this?