So, on my last DC-DC converter, I left off messing around with the control loop. I got it working decently, but there were still some oscillations. Thinking about it, this was probably due to ADC resolution, which is 10 bits on that microcontroller, while the PWM register I was using is 8 bits.
If you think about it (which I didn't initially), that means that you get quantization error, since the ADC can read voltages and currents the PWM (via the MOSFETs and the rest of the converter) won't produce. In other words, the controller is demanding more than what the converter can do.
I think I can maybe add some extra filtering to fix that. In the future, I'll try using the 16 bit register for PWM as well.