A self-regulating battery may generate a basis state for one or more modules using one or more system inputs. The system inputs comprise current, voltage, and battery degradation. The battery generates a family of weighted forecasts for future bus demands using usage and performance based weights. The battery generates one or more plans to support demand from the battery using the weighted forecasts. The battery scores the one or more plans based on efficiency of power extraction from the battery, and combines the scored one or more plans with an updated SoH value based on induced degradation from a usage plan. The battery generates the combined scored for each of the one or more plans, and transmits one of the combined scored to the battery management unit for execution.