Abstract: Aiming at the problem of DC bus voltage fluctuation, a dynamic compensation control structure for multi-DC-DC converters based on the robust residual generator was proposed for droop parallel connection. Firstly, the causes of circulating current and bus fluctuations between the converters were analyzed, and a state-space model of the DC-DC converter was established. Secondly, the state-space expression of the robust residual generator was derived based on the model of the DC-DC converter, and the voltage loop compensation control was dimensionally reduced according to the model matching theory. According to the characteristics of the converter minimum phase and non-minimum phase systems, a linear matrix inequality (LMI) was used to solve it. To further improved the dynamic response speed of the converter, according to the circuit model and dynamic compensation structure of the converter, a current loop compensation controller was designed to cancel the internal disturbance brought by the voltage loop compensation controller. Besides, a disturbance distribution strategy was proposed for transient circulating currents between converters in a DC droop system, and a voltage offset was obtained based on the disturbance distribution coefficient. Finally, the effectiveness of the proposed control strategy was verified by hardware-in-the-loop experiments.