“…The rules generate the control action (i.e., the value of power delivered from each energy source) based on the instantaneous values of several significant vehicle parameters (vehicle speed, power demand, battery state of charge, etc.). Many times, rules are derived using engineering judgment and a substantial amount of testing for tuning their parameters [12,42,43,44]; the technique can be made robust and suitable for production vehicles, but the results may not be optimal, since they are not based on formal optimization techniques. In some cases rules can be extracted from the optimal solution found using dynamic programming, thus representing a method to implement (at least approximately) the optimal solution.…”