The impact of selecting the value of CCOMP and RCOMP ideally have an effect on the output voltage response stability.
Fp1, Fp2, Fz1 & Frhpz are basically the corner frequencies related to the transfer function of the boost converter which are used for slope compensation related to gain margin and phase margin. The formulas are standard for the synchronous boost converter. It helps you chose the frequency based on the closed loop analysis.
The average output voltage when the converter is operating in PSM mode will be slightly higher than when working in CCM, are you looking for any specific ripple or load transient response for your application in PSM mode?