\section*{Acknowledgment}
The authors would like to thank Pascal Acco and Thierry Rocacher for their continuous technical guidance and support throughout this project. Their expertise in power electronics, embedded systems, and PCB design was invaluable.

We also thank La Manufacture Autonome Décentralisée (LaMAD) for providing the use case, the technical requirements, and the cargo bike platform used for validation.

Finally, we acknowledge the INSA Toulouse GEI department for providing access to laboratory facilities, measurement equipment, and the necessary components for prototyping.

This work was carried out as part of the 4th-year research project (PIR) at INSA Toulouse.



