In this article, a discrete extended-phase-shift (DEPS) control scheme is proposed to improve the dynamic response of dual-active-bridge (DAB) dc–dc converter. The proposed DEPS control adjusts the transmission power of the DAB dc–dc converter by generating high and low power control pulses, which are preset to have discrete phase-shift ratios, rather than employing pulsewidth modulation control. Thus, it is simple and easy to implement in digital-signal processor or field-programmable gate array. Moreover, without error amplifier and corresponding compensation circuit, its dynamic response is fast and robust. Parameter design method considering the effect of equivalent resistance of the DAB dc–dc converter and dc-bias current elimination is also presented. Theoretical analyses, energy-balance-based iteration modeling, and control performance of DEPS controlled DAB dc–dc converter are given, and they are verified by experiments on a 96–48 V, 50 kHz (100 kHz), 288 W DAB dc–dc converter.