Relevant bibliographies by topics / Optimal torque

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Optimal torque'

Author: Grafiati
Published: 2 June 2025
Last updated: 31 July 2025

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Journal articles on the topic "Optimal torque"

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Park, Sumin, Jongwon Kim, and Giuk Lee. "Optimal trajectory planning considering optimal torque distribution of redundantly actuated parallel mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, no. 23 (2018): 4410–19. http://dx.doi.org/10.1177/0954406217751818.

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Previous studies on the optimal operation planning of redundantly actuated parallel mechanisms have focused on optimal torque distribution for a predefined trajectory. However, the optimized result obtained for a predefined trajectory cannot guarantee an optimal operation plan, because the torque distribution ability of a redundantly actuated parallel mechanism is highly dependent on the shape of the end-effector trajectory. Therefore, we can expect the redundantly actuated parallel mechanism performance to be enhanced when both the trajectory and torque distribution are optimized during the o
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Sanjuan De Caro, Javier Dario, Md Samiul Haque Sunny, Elias Muñoz, et al. "Evaluation of Objective Functions for the Optimal Design of an Assistive Robot." Micromachines 13, no. 12 (2022): 2206. http://dx.doi.org/10.3390/mi13122206.

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The number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past few decades, resulting in a high economic burden for their families and society. Individuals with ULEDs require assistive robots to fulfill all their activities of daily living (ADLs). However, a theory for the optimal design of assistive robots that reduces energy consumption while increasing the workspace is unavailable. Thus, this research presents an algorithm for the optimal link length selection of an assistive robot mounted on a wheelchair to minimize the torque demands of
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Li, Junqiu, Yihe Wang, and Yizheng Wang. "Optimal control for jitter suppression of clutch engagement in upshift process of electric vehicles." Advances in Mechanical Engineering 8, no. 12 (2016): 168781401667484. http://dx.doi.org/10.1177/1687814016674847.

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In the shift process of large-order automatic transmission, jitter phenomenon is common in clutch engagement process, which greatly affects the ride comfort of the vehicle. In this article, the jitter dynamic model of clutch engagement process was established with lumped mass method and virtual displacement principle. Specific to clutch engagement stage, the optimal control of the coordination between driving motor and wet clutch was studied. In accordance with the jitter dynamic model, the state–space equation with controlling variables of motor torque and clutch friction torque was establish
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Qiu, Lei, Shaopeng Zhu, Dong Liu, Zhiwei Xiang, Hong Fu, and Huipeng Chen. "Research on the Torque Control Strategy of a Distributed 4WD Electric Vehicle Based on Economy and Stability Control." Electronics 11, no. 21 (2022): 3546. http://dx.doi.org/10.3390/electronics11213546.

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To improve the comprehensive performance of the distributed wheel-side four-wheel-drive electric bus, the problem of optimal distribution of the driving torque of the four wheel-side motors is studied. Aiming at the poor economy and failure of switching control due to the consideration of both straight and steering conditions, this paper proposes a fuzzy yaw moment control strategy based on the golden section search algorithm. Under full working conditions, according to the efficiency characteristics of the front and rear axle drive motors, the golden section search algorithm is used to determ
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R.P., Praveen, Ravichandran M.H., V. T. Sadasivan Achari, Jagathy Raj V. P., G. Madhu, and G. R. Bindu. "Design and Analysis of Zero Cogging Brushless DC Motor for Spacecraft Applications." ECTI Transactions on Electrical Engineering, Electronics, and Communications 9, no. 1 (2010): 113–20. http://dx.doi.org/10.37936/ecti-eec.201191.172327.

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This paper presents the optimal design of a surface mounted permanent magnet Brushless DC motor (PMBLDC) meant for spacecraft applications. The spacecraft applications requires the choice of a torques motor with high torque density, minimum cogging torque, better positional stability and high torque to inertia ratio. Performance of two types of machine con¯gurations viz Slotted PMBLDC and Slotless PMBLDC with halbach array are compared with the help of analytical and FE methods. It is found that unlike a Slotted PMBLDC motor, the Slotless type with halbach array develops zero cogging torque wi
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Aoyama, Tadayoshi, Kosuke Sekiyama, Yasuhisa Hasegawa, and Toshio Fukuda. "Optimal Limb Length Ratio of Quadruped Robot Minimising Joint Torque on Slopes." Applied Bionics and Biomechanics 6, no. 3-4 (2009): 259–68. http://dx.doi.org/10.1155/2009/702930.

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This paper aims to determine an optimal structure for a quadruped robot, which will allow the robot’s joint torque sum to be minimised. An animal’s characteristic limb length ratio is a vital part of its overall morphology and the one that enables it to travel easily through its environment. For the same reason, a robot’s structure needs to be suitably designed for locomotion in its working environment. Joint torques are necessary to maintain the posture of the robot and to accelerate joint angles during walking motion, hence, minimisation of joint torques reduces energy consumption. We perfor
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Eisler, G. R., R. D. Robinett, D. J. Segalman, and J. D. Feddema. "Approximate Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming." Journal of Dynamic Systems, Measurement, and Control 115, no. 3 (1993): 405–10. http://dx.doi.org/10.1115/1.2899116.

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The method of recursive quadratic programming, coupled with a homotopy method, has been used to generate approximate minimum-time and minimum tracking-error tip trajectories for two-link flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for a multi-link, multi-joint system with bending only in the horizontal-plane. Constraints on the trajectory include boundary conditions on link tip position, final joint velocities, accelerations and torque inputs to complete a rest-to-rest maneuver, straight-line tip tracking between bo
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Carignan, C. R., and D. L. Akin. "Optimal Force Distribution for Payload Positioning Using a Planar Dual-Arm Robot." Journal of Dynamic Systems, Measurement, and Control 111, no. 2 (1989): 205–10. http://dx.doi.org/10.1115/1.3153038.

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This paper presents a parameter optimization technique for deciding the force distribution on a payload being transported along a predetermined trajectory using two planar manipulator arms. The methodology begins by transforming the singular dynamics of two-arm transport to an ordinary set of differential equations and then proceeds to obtain a relation between the torques exerted by each arm. This relation is then used in a quadratic torque cost which is subsequently minimized to yield an optimal torque distribution. Significant savings in energy were found to occur when the arms were allowed
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Zhao, Jinyi. "Research on Torque Distribution Strategy for Four-Motor Distributed Drive Vehicles." Applied and Computational Engineering 169, no. 1 (2025): 77–85. https://doi.org/10.54254/2755-2721/2025.ch24658.

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With the global economic development and technological advancement, electric vehicles (EVs) have emerged as a key trend in the automotive industry due to their zero-emission advantage. However, handling stability issues in high-power EVs have become increasingly critical. This study focuses on torque distribution strategies for four-wheel independently driven distributed systems, aiming to enhance vehicle stability and safety by optimizing yaw and sideslip control.A MATLAB simulation model was developed to compare three strategies: no control, average torque distribution, and optimal control.
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Chung, Cheng-Ta, and Hung-Yih Tsai. "Conceptual Design and Energy Efficiency Evaluation for a Novel Torque Vectoring Differential Applied to Front-Wheel-Drive Electric Vehicles." Applied Sciences 13, no. 20 (2023): 11434. http://dx.doi.org/10.3390/app132011434.

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This paper presents a novel differential with lateral torque vectoring activated by an auxiliary motor, called motor-modulated lateral torque vectoring differential, or briefly, MLTD. Its architecture and kinematic characteristics are described, and the optimal cornering performance due to torque vectoring is evaluated using a steady-state vehicle dynamic model. Then, a conceptual design case of MLTD installed in a front-wheel-drive electric vehicle is conducted to assess its feasibility in terms of cornering, driving performances, and energy efficiency performance. The calculations show that
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Dissertations / Theses on the topic "Optimal torque"

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Osinenko, Pavel. "Optimal slip control for tractors with feedback of drive torque." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-155357.

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Traction efficiency of tractors barely reaches 50 % in field operations. On the other hand, modern trends in agriculture show growth of the global tractor markets and at the same time increased demands for greenhouse gas emission reduction as well as energy efficiency due to increasing fuel costs. Engine power of farm tractors is growing at 1.8 kW per year reaching today about 500 kW for the highest traction class machines. The problem of effective use of energy has become crucial. Existing slip control approaches for tractors do not fulfil this requirement due to fixed reference set-point.
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De, Kock Hugo Werner. "Position sensorless and optimal torque control of reluctance and permanent magnet synchronous machines." Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/1314.

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Thesis (PhD (Electric and Electronic Engineering))--University of Stellenbosch, 2009.<br>Keywords: position sensorless control, torque control, synchronous machines The work in this thesis deals with energy e cient torque control and rotor position estimation in the full speed range, for a family of synchronous machines that should be used more often in the near future. This family consists of the permanent magnet synchronous machine (PMSM), the reluctance synchronous machine (RSM), the interior-PMSM and the PMassisted- RSM. By designing and controlling these synchronous machines correct
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Faustner, David [Verfasser]. "Modeling and Optimal Torque Control of Saturated Surface-Mounted Permanent Magnet Synchronous Machines / David Faustner." Aachen : Shaker, 2016. http://d-nb.info/1124366695/34.

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Siampis, Efstathios. "Optimal torque vectoring control strategies for stabilisation of electric vehicles at the limits of handling." Thesis, Cranfield University, 2016. http://dspace.lib.cranfield.ac.uk/handle/1826/11777.

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The study of chassis control has been a major research area in the automotive industry and academia for more than fifty years now. Among the popular methods used to actively control the dynamics of a vehicle, torque vectoring, the method of controlling both the direction and the magnitude of the torque on the wheels, is of particular interest. Such a method can alter the vehicle’s behaviour in a positive way under both sub-limit and limit handling conditions and has become even more relevant in the case of an electric vehicle equipped with multiple electric motors. Torque vectoring has been so
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Bida, Oljeta. "Influence of electromyogram (EMG) amplitude processing in EMG-torque estimation." Link to electronic thesis, 2005. http://www.wpi.edu/Pubs/ETD/Available/etd--01295-140510/.

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Thesis (M.S.)--Worcester Polytechnic Institute.<br>Keywords: system identification; EMG; optimal sampling rate; linear torque model; EMG-torque model; EMG amplitude; torque. Includes bibliographical references (p. 77-86).
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Blazquez, Ivan. "An Optimal Interset Rest Period For Strength Recovery During A Common Isokinetic Test." ScholarWorks@UNO, 2008. http://scholarworks.uno.edu/td/833.

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Introduction: Isokinetic testing is used in rehabilitation settings on a regular basis, yet there is a lack of consistency in rest period usage among protocols. Purpose: The purpose of this study was to establish an optimal rest period that would allow reproducibility of strength during a common isokinetic strength-test. Methods: Twentyseven healthy college-aged males underwent isokinetic strength testing to determine peak torque at 60, 180 and 300 deg/sec, respectively. Work:rest ratios of 1:3, 1:8 and 1:12 were counterbalanced between sets. A 3 X 3 repeated measures ANOVA was used to analyze
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Wu, Hailong. "Modelization and control of synchronous reluctance machines for the torque ripple minimization - study of vibrational and acoustic behavior." Thesis, Bourgogne Franche-Comté, 2019. http://www.theses.fr/2019UBFCA003.

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Cette thèse porte sur l’optimisation du contrôle des Machines Synchrones à Réluctance Variable (MSRV) et en particulier sur la compensation des phénomènes vibratoires. Elle comprend trois points forts : le développement d’une méthode de minimisation des pulsations de couple et sa validation expérimentale, l’études des facteurs qui peuvent influencer la méthode et l’influence de cette méthode sur les autres performances de la MSRV.Tout d’abord, une méthode de contrôle permettant de compenser les ondulations de couple d’une MSRV existante a été développée. Premièrement, une équation analytique d
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Bovee, Katherine Marie. "Optimal Control of Electrified Powertrains with the Use of Drive Quality Criteria." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1448273973.

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Osinenko, Pavel [Verfasser], Thomas [Akademischer Betreuer] Herlitzius, and Klaus [Akademischer Betreuer] Röbenack. "Optimal slip control for tractors with feedback of drive torque / Pavel Osinenko. Gutachter: Thomas Herlitzius ; Klaus Röbenack. Betreuer: Thomas Herlitzius." Dresden : Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://d-nb.info/1069040665/34.

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Febrer, Nafría Miriam. "Optimal control prediction of assisted walking using torque-driven models : application to active orthosis simulation to assist individuals with spinal cord injury." Doctoral thesis, Universitat Politècnica de Catalunya, 2020. http://hdl.handle.net/10803/672506.

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Walking impairment after spinal cord injury leads to a decreased quality of life, other serious health conditions, and substantial health care costs. Consequently, gait restoration is a high priority among spinal cord-injured (SCI) subjects; and it can be partially achieved using active orthoses or exoskeletons, together with some type of external support for balance (e.g., crutches or a walker). Customisation of active orthoses control algorithms to maximise the walking ability of each patient is currently done through trial-and-error methods, making it difficult if not impossible to identify
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Books on the topic "Optimal torque"

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Sun, Andy Kwan-Leung. Design and analysis of an electro-optical force/torque sensor. National Library of Canada = Bibliothèque nationale du Canada, 1992.

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United States. National Aeronautics and Space Administration., ed. A fiber optic sensor for noncontact measurement of shaft speed, torque, and power. NASA, 1990.

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Vaez-Zadeh, Sadegh. Predictive, Deadbeat, and Combined Controls. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198742968.003.0005.

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In this chapter, three control methods recently developed for or applied to electric motors in general and to permanent magnet synchronous (PMS) motors, in particular, are presented. The methods include model predictive control (MPC), deadbeat control (DBC), and combined vector and direct torque control (CC). The fundamental principles of the methods are explained, the machine models appropriate to the methods are derived, and the control systems are explained. The PMS motor performances under the control systems are also investigated. It is elaborated that MPC is capable of controlling the mo
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Melendy, Robert F. Noncontact measurement of shaft torsional displacements by optical means. 1994.

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Tiwari, Sandip. Phase transitions and their devices. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780198759874.003.0004.

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Phase transitions as a collective response of an ensemble, with appearance of unique stable properties spontaneously, is critical to a variety of devices: electronic, magnetic, optical, and their coupled forms. This chapter starts with a discussion of broken symmetry and its manifestation in the property changes in thermodynamic phase transition and the Landau mean-field articulation. It then follows it with an exploration of different phenomena and their use in devices. The first is ferroelectricity—spontaneous electric polarization—and its use in ferroelectric memories. Electron correlation
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Fortin, Katharine. Armed Groups and Treaty Law. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780198808381.003.0008.

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Chapter 8 employs the theories identified in Chapter 7 to consider whether it is possible to argue that armed groups are bound by the major human rights treaties. The chapter conducts detailed analysis of the International Covenant on Civil and Political Rights and the International Covenant on Economic, Social and Cultural Rights. It also examines the main human rights treaties which it argues hold most textual potential to bind armed groups, namely the Convention against Torture, the Optional Protocol to the Convention on the Rights of the Child on the Involvement of Children in Armed Confli
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Book chapters on the topic "Optimal torque"

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Grđan, Ivo, Branimir Škugor, and Joško Deur. "Energy-Efficient Straight-Line Driving Torque Vectoring for Electric Vehicles with Disconnect Clutches and Unequal Front/Rear Motors." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_52.

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AbstractThis paper investigates potential of energy efficiency improvement for electric vehicle (EV) equipped with unequal front/rear-axle e-motors and disconnect clutches under straight-line driving conditions. First, a static optimization of front/rear torque distribution is performed for various driving cycles, which provides insights into energy efficiency gains and optimal powertrain operation including optimal torque switching curve for two- and four-wheel drive modes. Disconnect clutches enable inactive motors to be switched off when operating in the 2WD mode to avoid their drag losses.
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Prost, Mattéo, Ivan Cvok, and Efstathios Velenis. "Energy-Efficient Optimal Torque Vectoring for a Four-Motor High-Performance Electric Vehicle." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_114.

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AbstractThe paper presents and compares an optimal control allocation (CA) and model predictive control (MPC)-based torque vectoring (TV) for improved energy efficiency of electric vehicle with four independent electric motors. Offline and online (instantaneous) optimisation-based CA are designed for front-rear torque distribution. For overall wheel torque allocation, a production-ready MPC-based TV is extended with energy consumption minimisation terms. CA and MPC rely on power loss curves of differently sized front and rear powertrains that are fitted with polynomial regression models. Perfo
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Chen, Ping-Ho, and Kuang-Yow Lian. "Optimal Fuzzy Controller Mapped from LQR under Power and Torque Constraints." In IFIP Advances in Information and Communication Technology. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23960-1_13.

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Pugi, Luca, Tommaso Favilli, Lorenzo Berzi, Edoardo Locorotondo, and Marco Pierini. "Brake Blending and Optimal Torque Allocation Strategies for Innovative Electric Powertrains." In Lecture Notes in Electrical Engineering. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-11973-7_57.

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Gupta, Shailendra Kumar, Motilal Rinawa, Kishor Thakre, et al. "An Advance Optimal Torque Control MPPT Technique for Variable-Speed WECS." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-4918-0_24.

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Smith, E. N., E. Velenis, D. Cao, and D. Tavernini. "Evaluation of optimal yaw rate reference for electric vehicle torque vectoring." In Advanced Vehicle Control AVEC’16. Crc Press, 2016. http://dx.doi.org/10.1201/9781315265285-98.

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Niu, Shaohua, Wencai Zhang, Tianzhen Li, and Gan Zhan. "Optimal Control Method of Motor Torque Loading Based on Genetic Algorithm." In Intelligent Robotics and Applications. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13844-7_21.

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Zhao, Duoxing. "Optimal Trajectory of Manipulator Torque Based on Two Population Cuckoo Algorithm." In Forthcoming Networks and Sustainability in the IoT Era. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-99581-2_54.

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Zhou, Xuefeng, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, and Xiaojing Lv. "RNN for Motion-Force Control of Redundant Manipulators with Optimal Joint Torque." In AI based Robot Safe Learning and Control. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5503-9_6.

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Liu, Tao. "FCS-MPC Based IM-PMSM Dual-Motor System with Torque Optimal Control." In Proceedings of the 5th International Conference on Electrical Engineering and Information Technologies for Rail Transportation (EITRT) 2021. Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-9909-2_80.

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Conference papers on the topic "Optimal torque"

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Saleh, Ameer L., and László Számel. "Optimal Torque Sharing-Based Direct Instantaneous Torque Control Strategy for Torque Ripple Reduction in Switched Reluctance Motors." In 2025 7th Global Power, Energy and Communication Conference (GPECOM). IEEE, 2025. https://doi.org/10.1109/gpecom65896.2025.11061896.

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Houmsi, Hiba, Federico Bribiesca-Argomedo, Paolo Massioni, and Romain Delpoux. "Real-time Interior-point solver for Optimal Torque Control of IPMSMs." In 2025 IEEE Industry Applications Society Annual Meeting (IAS). IEEE, 2025. https://doi.org/10.1109/ias62731.2025.11061499.

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Sundaramoorthy, Prabhu, Punitha Devireddy, Chandravardhan Thummala, Sreekanth Valmiki, Partha Aswanth Kaperla, and Dinesh Padmanabhan. "PMSM Motors in the Air: Investigating Torque Characteristics for Optimal Drone Performance." In 2024 IEEE Third International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES). IEEE, 2024. http://dx.doi.org/10.1109/icpeices62430.2024.10719296.

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Nishiyama, Takehiro, and Katsuhiko Yamada. "Optimal Torque Assignment for Redundant Wheels." In 56th International Astronautical Congress of the International Astronautical Federation, the International Academy of Astronautics, and the International Institute of Space Law. American Institute of Aeronautics and Astronautics, 2005. http://dx.doi.org/10.2514/6.iac-05-c1.3.08.

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Kojima, Tetsuya, and Rik W. De Doncker. "Optimal torque sharing in direct instantaneous torque control of switched reluctance motors." In 2015 IEEE Energy Conversion Congress and Exposition. IEEE, 2015. http://dx.doi.org/10.1109/ecce.2015.7309706.

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Song, Zhihao, Wenxi Yao, Senqing Zhuo, and Wuhua Li. "Synchronous Optimal Torque PWM with Low Torque Ripple under Low Carrier Ratio." In 2021 IEEE 4th Student Conference on Electric Machines and Systems (SCEMS). IEEE, 2021. http://dx.doi.org/10.1109/scems52239.2021.9646108.

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Alkeilani, Anwar, Le Yi Wang, and Hao Ying. "Direct Torque Feedback for Accurate Engine Torque Delivery and Improved Powertrain Performance." In ASME 2015 Internal Combustion Engine Division Fall Technical Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/icef2015-1069.

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At the present time, both control and estimation accuracies of engine torque are causes for under-achieving optimal drivability and performance in today’s production vehicles. The major focus in this area has been to enhance torque estimation and control accuracies using existing open-loop torque control and estimation structures. Such an approach does not guarantee optimum torque tracking accuracy and optimum estimation accuracy due to air flow and efficiencies estimations errors. Furthermore, current approach overlooks the fast torque path tracking which does not have any related feedback. R
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Steingraber, Robert, Henning Schmidt, and Jorg Kruger. "Optimal torque adaptation in bimanual assisted rehabilitation." In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). IEEE, 2012. http://dx.doi.org/10.1109/humanoids.2012.6651503.

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Kemper, Kevin, Devin Koepl, and Jonathan Hurst. "Optimal passive dynamics for torque/force control." In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). IEEE, 2010. http://dx.doi.org/10.1109/robot.2010.5509924.

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Gong, Shangdong, Redwan Alqasemi, and Rajiv Dubey. "Gradient Optimization of Inverse Dynamics for Robotic Manipulator Motion Planning Using Combined Optimal Control." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-72064.

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Motion planning of redundant manipulators is an active and widely studied area of research. The inverse kinematics problem can be solved using various optimization methods within the null space to avoid joint limits, obstacle constraints, as well as minimize the velocity or maximize the manipulability measure. However, the relation between the torques of the joints and their respective positions can complicate inverse dynamics of redundant systems. It also makes it challenging to optimize cost functions, such as total torque or kinematic energy. In addition, the functional gradient optimizatio
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Reports on the topic "Optimal torque"

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An Input Linearized Powertrain Model for the Optimal Control of Hybrid Electric Vehicles. SAE International, 2022. http://dx.doi.org/10.4271/2022-01-0741.

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Models of hybrid powertrains are used to establish the best combination of conventional engine power and electric motor power for the current driving situation. The model is characteristic for having two control inputs and one output constraint: the total torque should be equal to the torque requested by the driver. To eliminate the constraint, several alternative formulations are used, considering engine power or motor power or even the ratio between them as a single control input. From this input and the constraint, both power levels can be deduced. There are different popular choices for th
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