You actually have to avoid the inductor current from going into discontinuous conduction mode (DCM).
Unfortunately, this Microchip datasheet is low, pitifully low on design details.
Check any of the datasheets from TI, specifically those who were created by National prior to being acquired by TI, and there is a wealth of design information and step by step formulas. If one is not into the mood of actually taking paper, pencil and calculator to actually design the supply customized to one's requirements, they have powerful interactive simulators.
The late Bob Pease once wrote an editorial: "Why write application notes?" He made several arguments, but the most important was: "They help sell components".
Apparently Microchip has not learned this lesson for this particular component, which seems oddball considering some other very complete datasheets and app notes they have.
Check other vendors. STMicro is lower cost and they have good app notes.