compute the fuel-optimal state and input trajectories for the energy management of a hybrid
electric vehicle (HEV) on a known driving mission. Specifically, we first introduce a model of
the HEV that we leverage to formulate the fuel-optimal control problem as a mixed-integer
convex program. Second, we use Pontryagin's minimum principle and non-smooth convex
analysis to derive the fuel-optimal control policy for the power split, the engine on/off …