In this work, a robust switching control design technique is presented for a DC-DC boost converter. It allows operation under uncertain equilibrium conditions arising due to perturbations in the input and load parameters. A parameter estimator is designed to update the equilibrium point for the switching controller in real-time. In order to mitigate the noise amplification problem associated with the designed parameter estimator, the estimation error injection term is filtered to obtain the desired level of noise suppression in the final set of estimates. To demonstrate the efficiency of the developed scheme, the proposed control design is validated in simulation as well as on an experimental platform, and compared to PWM-based statefeedback control with integral action.