State of Charge Estimation for Lithium-Ion Battery by Using Dual Square Root Cubature Kalman Filter

Figure 7

Convergence analysis by using the proposed DSRCKF method.

(a) SOC estimation when the initial SOC is 0.8, 0.6, and 0.4, respectively

(b) SOC error when the initial SOC is 0.8, 0.6, and 0.4, respectively