A power converter comprising: a dual output resonant converter including a first output, a second output, a common mode control input, and a differential mode control input, wherein a voltage/current at the first output and a voltage/current at the second output are controlled in response to a common mode control signal (Vcm received at the common mode control input and a differential mode control signal: Vdm received at the differential mode control input; and a dual output controller (220, 800) including a first error signal input, a second error signal input, a delta power signal input, a common mode control output, and a differential mode control output, wherein the dual output controller is configured to generate the common mode control signal and the differential mode control signal in response to a first error signal (error1) received at the first error signal input and a second error signal (error2) received at the second error signal input, wherein the first error signal is a function of the voltage/current at the first output and the second error signal is a function of the voltage/current at the second output, and wherein the common mode control signal is output from the common mode control output and the differential mode control signal is output from the differential mode control output, wherein the differential mode signal Vdm is limited to a minimum value by a differential mode signal limiting circuit, wherein the differential mode signal limiting circuit includes: a first maximum detector configured to receive a scaled first error signal at a first input and a first differential mode signal limit at a second input, and to produce an output that is the maximum value received at the first input and the second input; a second maximum detector configured to receive a scaled second error signal at a third input and a second differential mode signal limit at a fourth input and to produce an output that is the maximum value received at the third input and the fourth input; a first adder configured to produce an output that is the addition of the first maximum detector output and the second maximum detector output; and a second adder configured to produce the differential mode signal Vdm by subtracting the output of the first adder from a differential mode signal maximum value Vdm_max. a dual output resonant converter including a first output, a second output, a common mode control input, and a differential mode control input, wherein a voltage/current at the first output and a voltage/current at the second output are controlled in response to a common mode control signal (Vcm received at the common mode control input and a differential mode control signal: Vdm received at the differential mode control input; and a dual output controller (220, 800) including a first error signal input, a second error signal input, a delta power signal input, a common mode control output, and a differential mode control output, wherein the dual output controller is configured to generate the common mode control signal and the differential mode control signal in response to a first error signal (error1) received at the first error signal input and a second error signal (error2) received at the second error signal input, wherein the first error signal is a function of the voltage/current at the first output and the second error signal is a function of the voltage/current at the second output, and wherein the common mode control signal is output from the common mode control output and the differential mode control signal is output from the differential mode control output, wherein the differential mode signal Vdm is limited to a minimum value by a differential mode signal limiting circuit, wherein the differential mode signal limiting circuit includes: a first maximum detector configured to receive a scaled first error signal at a first input and a first differential mode signal limit at a second input, and to produce an output that is the maximum value received at the first input and the second input; a second maximum detector configured to receive a scaled second error signal at a third input and a second differential mode signal limit at a fourth input and to produce an output that is the maximum value received at the third input and the fourth input; a first adder configured to produce an output that is the addition of the first maximum detector output and the second maximum detector output; and a second adder configured to produce the differential mode signal Vdm by subtracting the output of the first adder from a differential mode signal maximum value Vdm_max.