Algorithm 9: Functional Flow of Physics-Based Model Predictive Control

1. Calculate next state for the state vector based on current state from EKF 2. Calculate change increment for the state vector and control signals 3. Compute E and F from the cost optimization forms 4. Compute the unconstrained solution$DU=E^{-1}F$ 5. Build M and γ based on$G_{{\phi }_{se}}$and${\Phi }_{{\phi }_{se}}$from Equation (18) 6. If M (DU) ≤ γ is true, END MPC, do nothing. 7. Else execute Hildreth QP to provide constrained solution increment$\Delta U_k\left[0\right]$ 8. Update control signal,$i_{gref}^{\ast }=i_{gref}+\Delta U_k\left[0\right]$ 9. Final constraint check on$i_{gref}^{\ast }$to insure it stays within operating bounds 10. Update SOCmpc with SOC from EKF