Hybrid drive vehicle control method and system

A hybrid drive vehicle control method for a hybrid drive vehicle which includes a prime mover, drive wheels, a hybrid mechanism having an energy storage device, an electrical controller, and a mechanical gear set mechanically connecting the prime mover, the drive wheels and the hybrid mechanism. A prime mover reference command corresponding to a torque output by the prime mover is generated using a prime mover torque-based feedback control in combination with prime mover residual torque compensation. A hybrid mechanism reference command corresponding to a torque output by the hybrid mechanism and applied to the prime mover is generated using feedforward compensation. A hybrid mechanism feedback signal corresponding to a torque applied by the hybrid mechanism to the prime mover is also generated.