## 1 Introduction
[30] used a custom real-time simulator platform and a DSP control card to introduce a HiL testbed for the academic development of control algorithms where a Simulink(r) coder was used for real-time testing of a generated C code. The main objective of that study was only to test the control bench and generate measurable signals for features such as vehicle speed, acceleration, and power at the wheels. In another study [31], a HiL module setup was tested for an inverter ECU and a software-based electric motor for HEVs. In that study, only the control board of the Inverter ECU (HIL Box) was physical, while the remaining components (i.e., HV battery, sensors, DC-link capacitor, electric motor, IGBT-based power electronics board, and drive load) were completely modeled in the MATLAB/FPGA environment. Compared to the above-mentioned studies, considerable efforts have also been reported in the literature, which have taken verification tests to a more realistic and accurate level by adding up more physical degrees. In contrast to the semi-physical HiL test environments discussed, there have been studies that have included real prototyped components to provide more real-world and versatile test benches. These studies have focused on examining the mechanical/electrical actuation performance of components under real-time operations. Clearly, such a feature facilitates the testbed to include the existing losses of a system more accurately leading to reliable results from the setup. For example, [PERSON] et al. [6] presented a testbed including real components (i.e., internal combustion engine (ICE) and electric motor) for HiL implementation of HEV drivetrains while the battery and gearbox were realized by software models. Their ideally designed testbed employed an electromagnetic clutch, making the testbed switchable between series and parallel configurations. In another real-time study,Mayyas et al. [32] examined ECMS-based and rule-based power splitting approaches in a roller bench emulating the driving cycle. In that study, the ICE and chassis system were integrated to become a part of a parallel HEV HiL testbed. The experimental HiL system in [33] coupled a real engine with mathematical models of electric systems to verify the implementation of an ECMS-based control through comparisons of the MiL and HiL results for the engine torque. The behavior of fuel cell (FC) and super capacitor (SC), as real components of a multi-source HiL testbed, was assessed by [PERSON] et al. [34, 35], while battery and traction load parts were virtually emulated by a current source. The real-time system controllability was validated for an OB strategy in both of these studies. [PERSON] et al. [36] reported a HiL implementation of an EV with real hybrid energy storage components comprising a battery and SC coupled into dSPACE and emulation choppers. Their experimental results validated the applicability of a low pass filter power sharing method considering a reduced-scale power. As discussed in the current section, most studies have implemented HiL tests focusing on conventional HEV topologies such as series, parallel, and series-parallel. However, a very limited number of studies have reported on the HiL verification tests of EMSs for a recently promising topology of vehicles: HEVs equipped with EVT. For such a topology, most of the existing studies have reported offline results without assessing the system either in an experimental or realistic environment. In this regard, the EMSs for the power sharing control of EVT-based HEV topologies solely relying on MiL simulations were investigated in [37, 38, 39]. On the other hand, there is experimental research that has focused on real-time implementations, but their objectives were limited to the design, testing, and optimization of EVT itself as a component [40, 41, 42, 43], rather than on the verification of EMS and system controllability. From a system perspective and to provide a testbed for studying EVT-based HEVs, a scaled HiL platform for real-time implementation was introduced in [44].