MPC for a low consumption electric vehicle with time-varying constraints * *This work has been supported by CPER Région Lorraine (AOC Project), Fédération Charles Hermite, ESSTIN and INRIA. Third author partially supported by ANR GCM, contract number NT-504590 and ERC StG number 239748. The authors thank the students and the teaching staff of EcoMotion-Team of ESSTIN for their valuable help.

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