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TPS54561-heavy load

Hi,

I have a project use TPS54661, Vin=6~50V, Vout=5.3V, Iout=3A, and had a heavy load issue, when I used under 15Vin and Iout 3A caused  Vout unstable.The waveform as below.

What do I need to modify the circuit , please advise?