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Both bootloaders fill their purpose in loading the next booting software but u-boot offers wide versatily and functionalities over IGEP-X-Loader, however IGEP-X-Loader being simple means that it is faster at booting an igep board.
It is highly recommended that first the users try to boot their OMAP3 processors with U-Boot bootloader and if they do not succeed or feel the need of experimenting with faster software then they can give a try to igep-x-loader.