In the past decade, automobile manufacturers have gone through the initial adoption phase of electric mobility. The increasing momentum behind electric vehicles (EV) suggests that electrified storage systems will play an important role in electric mobility going forward. Lithium ion batteries have become one of the most common solutions for energy storage due to their light weight, high specific energy, low self-discharge rate, and non-memory effect. To fully benefit from a lithium-ion energy storage system and avoid its physical limitations, an accurate battery management system (BMS) is required. One of the key issues for successful BMS implementation is the battery model. A robust, accurate, and high fidelity battery model is required to mimic the battery dynamic behavior in a harsh environment. This dissertation introduces a robust and accurate model-based approach for lithium-ion battery management system. Many strategies for modeling the electrochemical processes in the battery have been proposed in the literature. The proposed models are often highly complex, requiring long computational time, large memory allocations, and real-time control. Thus, model-order reduction and minimization of the CPU run-time while maintaining the model accuracy are critical requirements for real-time implementation of lithium-ion electrochemical battery models. In this dissertation, different modeling techniques are developed. The proposed models reduce the model complexity while maintaining the accuracy. The thermal management of the lithium ion batteries is another important consideration for a successful BMS. Operating the battery pack outside the recommended operating conditions could result in unsafe operating conditions with undesirable consequences. In order to keep the battery within its safe operating range, the temperature of the cell core must be monitored and controlled. The dissertation implements a real-time electrochemical, thermal model for large prismatic cells used in electric vehicles' energy storage systems. The presented model accurately predicts the battery's core temperature and terminal voltage. / Thesis / Doctor of Philosophy (PhD)