“…Note that the change in SoC has a much larger time constant than the fast electrical impedance of the battery. The electrical impedance is only relevant for the interaction between INV and battery and does not directly interact with the SoC (Hametner, Prochazka, Suljanovic, & Jakubek, 2014). However, the difference between the time constants can be addressed by a cascaded control concept, which includes a master MPC for the slow dynamics and a slave MPC for the fast dynamics.…”