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LM5141: the output of the lm5141 is abnormal

Part Number: LM5141

Dear  TI  technical colleague,

my customer use lm5141 to make a buck  circuit,it is from 24v to 3.5v/20A.but the output voltage is abnormal。the abnormal case as below:

1.when there is no load,the output voltage is normal,but the vo ripple is very high,about 800mv;

2,when i add a 5A load,the vo decrease to about 2.8v.measure the sw ,the low_side mosfet gate and high_side  mosfet gate wavefrom,the wavefrom is very bad.it seems 

to be mixed up with other frequency waveform. some test point waveform as below;

the schematic as below:

please help me why it like this.the case is very critical.please help me to resolve it.

thank you

best regards

cickey xu