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n this article, a complete methodology to design the primary voltage droop control for a generic DC microgrid is proposed. First, a procedure to obtain a linear model of the complete system including the different converters inner and outer loops is detailed. Then, this linear model is analyzed using frequency domain techniques in order to ensure that the system is able to operate in a stable and secure manner. Based on the frequency analysis performed, the system droop gains are selected and tested in simulation to validate that the control design specifications are met.