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

Table 3

Comparison of convergence analysis.

Initial SOC	Convergence iteration (step)
	DEKF	DSRUKF	DSRCKF
100%	1	1	1
90%	195	233	233
80%	300	347	347
70%	351	396	396
60%	381	423	423
50%	404	444	444
40%	424	464	464
30%	441	491	491
20%	455	508	508
10%	480	518	518
0%	495	529	529