*4.1. SOC Estimators' Convergence Speed*

The analysis of Li-ion battery response convergence speed for all three SOC estimators and each model can be done visually by examining the graphs related to SOC or based on the benchmark represented in Table 2. The data from Table 2 correspond to the worst-case scenario that could happen in "real life", since they analyse a Li-ion capacity degradation by 30% due to ageing e ffects and for changes in the "guessed" value of initial SOC. Moreover, some noise in measurement output data (battery terminal voltage) has a variance VarY = 0.001. From data provided in Table 2, it can be said that for the 3RC ECM Li-ion battery model SOC the PFE is much faster compared to the other two estimators, followed by the AEKF SOC estimator. For the Li-ion battery Simscape model the AEKF SOC estimator is faster than the other two competitors, followed quite closely by the PFE SOC estimator. By a rigorous analysis of data collected in Table 1, it can conclude that all three SOC estimators perform better for the Li-ion battery Simscape model; the response convergence speed is faster than for the 3RC ECM Li-ion battery model.
