I was looking at my posts again and see I missed out a necessary tip. The 
ADC conversion period *must be longer* than the PWM rate, otherwise it may 
go crazy making multiple changes to the period in the same cycle. The ADC 
and the PWM don't need to be synchronized. I find making the conversion 
time between three and four times the PWM period gives a good balance 
between transient response and good regulation.

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