Online optimal control of a parallel hybrid with costate adaptation rule

This paper focuses on online control energy management strategy for a parallel hybrid architecture. The strategy is developed from the optimal control theory, using Pontryagin's Minimum Principle (PMP). The resulting Equivalent Consumption Minimization Strategy (ECMS) is implemented in real time and tested in simulation and in an experimental environment (HyHiL test bench). In particular, the adaptation of one control parameter, playing the role of a Lagrange multiplier, is analyzed in terms of stability and effectiveness.