This paper presents the design and analysis of DC-DC Zeta converter operating in the continuous conduction mode to regulate the output voltage of the converter for automotive battery recharge applications. The state space analysis of the converter is derived to obtain the transfer function of the converter. The presented DC-DC converter exhibits the non-linearity due to the presence of energy storage elements and degrades the performance of the converter. Therefore, this paper proposes a non-linear cascaded Proportional -Integral Sliding Mode Controller (PI-SMC) to improve the performance of the converter. PI-SMC Controller contains PI Controller in the outer loop for voltage regulation and an inner fast acting SMC Controller for current shaping. The PI controller is tuned by Root locus and Routh Hurwitz criterion and the steady state performance parameters are obtained for the PI-SMC Controlled Zeta converter. MATLAB/SIMULINK results are presented for Set point tracking of the controller. The results shows that the steady state performance indices such as Integral Absolute Error (IAE) and Integral Time Absolute Error (ITE) are significantly enhanced for the converter using the proposed cascaded control scheme compared to the conventional PI controller.