In this paper, first the operating principles of a non-isolated universal bidirectional DC-DC converter are studied and analyzed. The presented power converter is capable of operating in all power transferring directions in buck/boost modes. Zero voltage switching can be achieved for all the power switches through proper modulation strategy design, therefore, the presented converter can achieve high efficiency. To further improve the efficiency, the relationship between the phase-shift angle and the overall system efficiency is analyzed in detail, an adaptive phase-shift (APS) control method which determines the phase-shift value between gating signals according to the load level is then proposed. As the modulation strategy is a software-based solution, there is no requirement for additional circuits, therefore, it can be implemented easily and instability and noise susceptibility problems can be reduced. To validate the correctness and the effectiveness of the proposed method, a 300 W prototyping circuit is implemented and tested. A low cost dsPIC33FJ16GS502 digital signal controller is adopted in this paper to realize the power flow control, DC-bus voltage regulation and APS control. According to the experimental results, a 12.2% efficiency improvement at light load and 4.0% efficiency improvement at half load can be achieved.