This paper presents a careful study related to a more efficient energy management between lithium battery (with rated voltage of 24V) and Ultracapacitors (UC) for Hybrid Electric Vehicle (HEV) applications. This association is due to the present trend in the field, knowing that the major drawback of the HEV is the autonomy problem. Thus, using the Hybrid energy source (such as UC + battery) and with a good energy management improves the HEV performances. In this paper, battery and Ultracapacitors (10 cells of 2.7V in series) are coupled to DC-bus using two buck-boost converters. The main contribution of this paper is focused on DC-bus voltage and currents control strategy based on polynomial (RST) controller. Through some simulations in MATLAB/Simulink software and experimental results, the authors present an improved energy management for HEV.