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

Figure 8

Comparison of convergence between the DEKF, DSRUKF, and DSRCKF methods.

(a) SOC estimation when the initial SOC is 0.6

(b) SOC error when the initial SOC is 0.6

(c) Zoom figure for (b)