This setup is designed to balance energy between battery cells. In this system, energy is transferred from the auxiliary battery to the cells through the converter and middle switches. A method is proposed, based on quantitative feedback theory (QFT), for robust control of the balance current, which guarantees robust stability and performance despite model uncertainties. The features of the BMS system includes: State of charge calculations. Cell over-voltage and under-voltage protection Intelligent active battery balancing based on quantitative feedback theory (QFT) Over-current protection