I. Introduction and Motivation
The need for reducing pollution, transportation costs and improving city mobility is propelling the research of alternative mobility modalities. The first approach to this problem was the electrification of common vehicles power-trains. This solution often yielded costly vehicles with subpar performance. To date, it can be argued that the most interesting and commercially successful approach has been that of electric hybrid vehicles. Electric hybrid vehicles represent a trade-off between range, efficiency and versatility. They provide a better solution than traditional ICE (Internal Combustion Engine) vehicles, but are still not ideal in many specific circumstances (for example city driving).