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\title{Anti-disturbance State-of-Charge Estimation for Lithium-ion Batteries
Using Nonlinear Extended State Observers~~~~}



\author[1]{Shuo ZHANG}%
\author[1]{Xinghao WANG}%
\author[1]{Zifeng CHEN}%
\author[1]{Dianxun XIAO}%
\affil[1]{Affiliation not available}%


\vspace{-1em}



  
  \date{May 06, 2026}


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\begin{abstract}
In this paper, the nonlinear extended state observer (NESO) is proposed
to estimate the state-of-charge (SOC) for the Lithium-ion batteries
(LIBs). The NESO is designed based on the simple first-order equivalent
circuit model (ECM) to estimate the total disturbance of the battery
model and compensate them as the new extended state, which can achieve
the active disturbance rejection to estimate the battery state
accurately. Furthermore, the observability and stability of the NESO is
proven, and estimation performance of the observer is verified under
different ambient temperatures, testing driving and different noise
levels. The SOC estimation results indicate that the NESO can obtain
accurate estimation values and strong robustness against different
disturbances, even though all validation conditions use constant battery
value of the first-order ECM. In addition, compared with other common
estimation methods, the NESO exhibits a faster convergence time and more
accurate estimation results. ~%
\end{abstract}%



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