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Regenerative braking is an effective way to extend the driving range of a battery electric vehicle (BEV). First, the electrical circuit and principle are depicted in detail. Then, the mathematical model is derived step by step, based on parameter perturbation. Combining the merits and defects of H 2 optimal control and H infin robust control, a robust H 2/H infin controller is put forward to guarantee both system performance and robust stability. To attenuate parameter perturbation and nonlinear uncertainty, the H infin norm of the sensitive functions from the parameter perturbation of the electrical circuit to the control input is taken as the evaluating index of robustness, and the H 2 norm of the transfer function from the external disturbance to the angular velocity of the motor as the index of linear quadratic Gaussian control. The agreement between the simulated and experimental results on BEV dasiaXJTUEV-IIdasia validated the feasibility and effectiveness of regenerative braking and showed that the proposed scheme was endowed with good control performance. Furthermore, more energy is recovered, and by the proposed method, the driving range is improved 4dasia more than that by the traditional PI controller.