State-of-Charge Estimation and Active Cell Pack Balancing Design of Lithium Battery Power System for Smart Electric Vehicle

Table 3

RMSE for SOC estimation using EKF, STEKF, CKF, and STCEKF at 25°C.

Descriptions	Extended Kalman filter (EKF)	Strong tracking extended Kalman filter (STEKF)	Cubature Kalman filter (CKF)	Strong tracking with cubature on extended Kalman filter (STCEKF)
Root means square error (RMSE)	0.02735	0.01455	0.01223	0.01176
Convergence time (min)	35	20	11.7	10