This paper presents a comprehensive control oriented battery model. Described first is an equivalent circuit based battery model which captures particular battery characteristics of control interest. Then, the model categorizes the battery dynamics based on their different time constants (transient, long-term, life-time). This model uses a 2-D map representing the temperature and state-of-charge dependent model parameters. Also, the model uses new battery state-of-charge and state-of-health definitions that are more practical for a real battery management system. Battery testing and simulation on various types of batteries and use scenarios was completed to validate that the model is easy to parameterize, computationally efficient and of adequate accuracy.

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