This paper presents a comprehensive mathematical modeling of non-ideal DC-DC boost converter based on state-space averaging technique. Non-ideal characteristics are shown in the form of equivalent series parasitic resistances of inductors, capacitors, diode and MOSFET during conduction, and the forward voltage drop of the diode. Combination of non-idealities is an essential aspect to get more precise mathematical models. The Leverrier’s algorithm is used to derive the duty cycle to output voltage transfer function of the non-ideal boost converter. The mathematical models of the ideal and non-ideal converters are compared, which confirms that the mathematical modeling of the non-ideal converter gives more information of the practical converter. Then, the performance of DC-DC boost converter is improved using PI controller based on the stability boundary locus approach. The algorithm for tuning the parameters of this controller is proposed. The stability region achieved based on the desired phase margin and gain margin is a subset of the global stability region. Any combination of \({K}_{P}-{K}_{I}\) selected within this stability region would stabilize the closed loop control system. The simulation results are presented to validate the theoretical studies.