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About "on time generator" of Constant on Time and Adaptive on Time control in the buck feedback

Hello,

I could find the tech document.

https://www.ti.com/seclit/wp/slup319/slup319.pdf

I cannot find the different of COT and AOT

What is the difference between Constant on Time and Adaptive on Time control?

How are the "on time generator" of COT and AOT composed, and how they work with the output of loop compensation?

Thank you