Algorithm 10: MPC initialization of state, control signal, and SOC

$x_{mpc}=x_{ekf,plus}$ $for i=1 to N_s$ $\{x_{mpc,plus}\left[i\right]=A\left[i\right]\ast x_{mpc}\left[i\right]+u_{k,mpc}\}$ $for i=1 to N_s$ $\{\Delta {\mathsf{\chi }}_{mpc}\left[i\right]= x_{mpc,plus}\left[i\right]-x_{mpc}\left[i\right]$ $\Delta {\chi }_{mpc}\left[N_s+1\right]={\phi }_{s-e}$ $\Delta u_{k+1,mpc}=u_{k+1,mpc}-u_{k,mpc}$ $SO{C}_{mpc}=SO{C}_{ekf}$