Table 1 Software algorithm for fast-charge MPC

1.

1.1. Get temperature

1.2. Call parameter function

1.3. Calculate Φ and G matrices

1.4. Create G_nf and G_ff (nf = near future and ff = far future) dual mode data)

1.5. Calculate E

1.6. Calculate P (matrix for Hildreth QP)

1.7. Build M (constraints vector)

1.8. Start loop – compare x_m[0] (SOC) to reference to see if fully charged. If not fully charged, continue, else exit

2.

2.1. Calculate F

2.2. Solve -FE^-1 (optimal unconstrained Δu from J)

2.3. Build γ (constraints vector)

2.4. Compare: M∆u ≤ γ

3.

3.1. False – call Hildreth QP, develop new Δu that meets constraints

3.2. True Goto Stage 4 (4.1)

4.

4.1. Calculate the next control signal, next states, and outputs

4.2. Goto Start Loop (1.8)