Robustness of SOC Estimation Algorithms for EV Lithium-Ion Batteries against Modeling Errors and Measurement Noise

State of charge (SOC) is one of the most important parameters in battery management system (BMS). There are numerous algorithms for SOC estimation, mostly of model-based observer/filter types such as Kalman filters, closed-loop observers, and robust observers. Modeling errors and measurement noises have critical impact on accuracy of SOC estimation in these algorithms. This paper is a comparative study of robustness of SOC estimation algorithms against modeling errors and measurement noises. By using a typical battery platform for vehicle applications with sensor noise and battery aging characterization, three popular and representative SOC estimation methods (extended Kalman filter, PI-controlled observer, and H∞ observer) are compared on such robustness. The simulation and experimental results demonstrate that deterioration of SOC estimation accuracy under modeling errors resulted from aging and larger measurement noise, which is quantitatively characterized. The findings of this paper provide useful information on the following aspects: (1) how SOC estimation accuracy depends on modeling reliability and voltage measurement accuracy; (2) pros and cons of typical SOC estimators in their robustness and reliability; (3) guidelines for requirements on battery system identification and sensor selections