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LM3481 pulse skipping and audible noise

Other Parts Discussed in Thread: LM3481, LM3481SEPICEVAL

Hello,

I'm having some problems with my custom design using the LM3481 controller in Sepic topology. The board is emiting audible noise when the input voltage reaches 18-20V and the load is about 20-40mA. Output voltage is clean and stable.

Design info:

Fsw = 500Khz
Topology = SEPIC with coupled inductor

Inductor = 4.7uF (dual)

Cin = 100uF
Cout = 660uF (2x tantalum 

Iout = 2.2A max.

Input voltage = 3V - 36V

Output voltage = 5V

The scope shows a pulse skipping like that: 

Is there any way to avoid/minimize this noise? Is it normal that the controller skips pulses at 20-40mA load?

Thank you.