The serious commercial chargers have a deltaI/deltat (current vs
temperature) alogorithm to detect when electrolysis of the electrolyte
begins to occur. Failing that, a Pout vs Pin alogorithm is next best. Both
these make for an expensive controller which is hard to justify in domestic
systems. The best we can usually work with is a voltage based controller
and hopefully a charge rate that won't boil the cells.
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