An inductor current estimator for a switching power supply includes a first sensing and averaging component that generates an average of a switch voltage and a second sensing and averaging component that generates an average of an output voltage of the switching power supply. A first subtraction component receives the average of the switch voltage and the average of the output voltage. A first multiplying component receives an output of the first subtraction component and multiplies the output of the first subtraction component by a first model parameter. A second multiplying component multiplies an input to the second multiplying component by a second model parameter. An adding component adds an output of the first multiplying component and an output of the second multiplying component. A delay component receives an output of the adding component and provides an output to an input of the second multiplying component.