Single-inductor multiple-output (SIMO) dc-dc switching regulators are potentially very good replacement to multiple parallel converters in today's power management units for portable applications where multiple supplies are required. The outputs in these converters being coupled, cross-regulation among the outputs plays a major role in deciding the performance of the system. This paper proposes a control scheme that ensures good load and line regulation and stable system dynamics and reduces cross-regulation effect significantly. In designing a control scheme, proper analysis of the system is an important factor, and SIMO class of converters being driven by a ripple in the inductor current, conventional modeling does not hold good. Consequently, a ripple-based modeling approach that accurately judges the system performance is adopted. A cross-derivative state feedback control methodology has been proposed so as to completely decouple the outputs. Finally, a single-inductor dual-output SIMO converter has been built on a printed circuit board using discrete components, and the test results presented validate the modeling technique proposed. The simulation and experimental results show that the proposed control scheme significantly reduces cross-regulation at the outputs.Index Terms-Cross-regulation, dc-dc switching converter, ripple-space averaged modeling technique, single-inductor multiple-output (SIMO) converters.