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Linear regulator...use NPN , or NPN_Darlington?

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A Darlington has a minimum drop in excess of 0.6V even when as near saturation as one ever can be, as the base of the second transistor is fed from its own collector.

A properly configured and driven single transistor can have much lower saturation voltage, and so lower power dissipation.

And, probably more relevant in that application - faster transient response as the base can be driven as fast as needed, both positive and negative, rather than relying on the internal base-emitter resistor in the Darlington.

That Darlington has a typical switch-off time of 10uS, from the data sheet.
 
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