A controller design method for a battery-energy storage system using a linearized battery model is presented in this paper. The suggested linear battery model is expressed with open-circuit voltage having three relaxation filters and a linear output equation. A method to obtain on-line resistance and maximum available power is also presented. The battery state of charge information is obtained by Kalman filter, and its performance is verified by FTP75 driving cycles. The controller for power converter is designed and experimented with a 250 V battery pack. The proposed control method is simple and easy to apply to a real system.