I. Introduction
Nowadays hybrid vehicles are more and more considered, as their diffusion is actually increasing on the market. These vehicles are equipped with both a rechargeable energy storage system (RESS) and a fuelled power source for propulsion [1]. Different architectures can be identified. In this regard, in a series-hybrid vehicle the powers coming from the two sources are summed in an electric form, while in a parallel-hybrid scheme such power sum takes place in mechanical form. Series-parallel combinations are also possible. These aspects make hybrid vehicles very different from ordinary vehicles, in which there is a unique energy path from the reservoir to the wheels. The double path opens to an energy optimisation problem: how to continuously choose at each instant the share of the useful power between the two sourcesƒ