Bidirectional Power converter

[LEFT]Hello every one
I’m working on designing a bidirectional dc to dc converter that changes 340 to 50V and vica versa. Therefore, can you please help me indesign this system to include a robust control which will adjust the output voltage and current for both ends (buck and boost). this device should trigger the transistors by PWM. please help me in the control side.

my design will be similar to this
http://media.maxim-ic.com/images/appnotes/3440/3440Fig01.gif[/left]