This article proposes a continuous-control-set model-predictive control (CCS-MPC) designed explicitly for second-order dc/dc converters, such as the boost, buck, buck–boost, and noninverting buck–boost converters. These converters share a bilinear dynamic structure that allows designing a generalized control. In contradistinction to the conventional finite-control-set approach, the proposed control uses a pulsewidth modulation that allows a continuous control set with constant switching frequency. The modulation index's saturation is considered an inequality constraint in the optimization model. The proposed control guarantees stability in the sense of Lyapunov. This property is proven by using the passive structure of these converters. Experimental results on the four converters mentioned previously show the superior performance of the proposed control in terms of robustness, offset, computation time in the central processing unit, and, of course, stability.