One of the most important issues for the future development of electrical vehicles in connection with their marketing dissemination is the optimization of the energy consumption in order to guarantee an enough autonomy for the travel. This aspect involves challenging optimization control problems. One key
point for the control is the design of an optimal reference force, or torque, to be tracked by the closed loop controller to guarantee a desired velocity. In this paper an optimization procedure to generate energy optimal powertrain reference force trajectories with dynamic constraints is considered. The resulting optimal force trajectory is the reference force of the control loop. This contribution proposes a way to solve an optimization problem that considers the dynamic structural physical constraints and the properties of the system. Simulation results are presented to validate the proposed procedure. In particular, simulated results using real data from a GPS route profile are shown.