GOVERNMENT COLLEGE OF TECHNOLOGY

COIMBATORE

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

M.E. Power Electronics & Drives

ROBUST DISSIPATIVE BASED PI OBSERVER

DESIGN FOR THE STATE OF CHARGE
ESTIMATION OF A LITHIUM-ION BATTERY

Guided By, Presented By,

Dr. K. Ranjith Kumar Poornesh Kumar K S
Prof., / EEE
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 INTRODUCTION

• SoC corresponds to the ratio of the available charge of the battery to

the total charge which would be available after fully charging the
battery.
• In the qualitative behavior of dynamical systems, the exact
mathematical model of the system is primarily required to achieve the
desired system performance.
• Uncertainty - due to Variation in system parameters- Modelling errors-
component failures.
• The situations with immeasurable states and inflated price of output
measurement, the observer-based feedback input is followed.
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 INTRODUCTION

• The inevitable gap between the actual physical system and its
mathematical model always consistently occurs because of
environmental disturbances, parameter fluctuation, communication
errors and so on. In such circumstances, instability is induced.
• Owing to this, it is of both theoretical and practical significance to
consider the parametric uncertainties in system design.

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 OBJECTIVE

• State of charge (SoC) estimation via Equivalent circuit model of

lithium-ion battery
• A robust dissipative based proportional integral observer design is
proposed to estimate the state of charge (SoC) of a lithium-ion battery.
• Observer gain matrices are calculated via Lyapunov stability theory and
Linear Matrix Inequality technique.

BASE PAPER
Gholizadeh, M., Yazdizadeh, A.: ‘ State of charge estimation of a lithium‐
ion battery using robust non‐linear observer approach’, IET Electric. Syst.
Transp., 2019, 9, (1), pp. 1– 7.

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 LITERATURE REVIEW

• There have been many methods to estimate the SoC of the batteries,
like
– Kalman filter (KF),
– H∞ filter,
– Coulomb counting,
– open circuit voltage (OCV),
– Extended Kalman filter (EKF),
– Non-linear Observer.
– PI Observer

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 LITERATURE REVIEW (Cont…)

Kalman Filter
• Accurately estimates states affected by external disturbances
such as noises governed by a Gaussian distribution.
• KF cannot be used directly for state prediction of a nonlinear
system.
• It requires highly complex mathematical calculations.
• Possibilities of divergence due to an inaccurate model and
complex calculation.

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 LITERATURE REVIEW (Cont…)
H∞ Filter
• Satisfactory performance in terms of accuracy, computational
cost and time efficiency.
• Aging, hysteresis and temperature effects could deviate the
accuracy of the model.
Coulomb counting
• Easy to implement.
• Less power consumption.
• Has inaccurate results due to uncertain disturbances.
• Difficulties in determining the initial value of SOC which
causes cumulative effect.

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 LITERATURE REVIEW (Cont…)

Open Circuit Voltage (OCV)

• Easy to implement
• High precision
• Takes long rest time to reach an equilibrium condition.
• Only applicable only when the vehicles are not moving.
Extended Kalman filter (EKF)
• Predicts a non-linear dynamic state with good precision.
• Limited robustness.
• Linearization error could occur if the system is highly non-
linear.

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 LITERATURE REVIEW (Cont…)

Non Linear Observer(NLO)

• Improved performance in terms of accuracy converge speed
and computation cost.
• Enhanced robustness against the disturbances.
• Difficult to find a proper gain matrix to reduce the error.
Proportional Integral Observer(PIO)
• Accurately estimates SOC with less computation time.
• Robustness of the model is improved against the model
uncertainty.
• Could deliver inaccurate results if the controller is not
properly designed.
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 COULOMB-COUNTING METHOD

Coulomb-Counting method, also known as Ampere hour counting and

current integration, is the most common technique for calculating the
SoC. This method employs battery current readings mathematically
integrated over the usage period and then added to the initial SoC
value. Mathematically, it is given by,

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 MODEL BASED ESTIMATION

• The Equivalent Circuit Model (ECM) based SoC evaluation requires

the derivation of the circuit models consisting of various circuit
elements arranged in series or parallel combination such that it
replicates the dynamics of the battery.
• The RC pair(s) captures the dynamical behavior of the battery. The
accuracy in capturing the dynamical behavior increases with the
increase in the number of RC pair.
• In our study we have used the 2 RC model of the battery because it
reflects both the short-term and long-term transient responses as the
results of battery relaxation effect, respectively

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 PROPOSED METHOD

Dissipative PI Observer
• It serves as a prominent role in the analysis and control design
of dynamical systems, because many real world problems
need to be dissipative for accomplishing satisfactory noise
attenuation.
• The theory of dissipative concept include H ∞, passivity and L2
performances as special cases based on energy-related
considerations.

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PROBLEM FORMULATION

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 PROBLEM FORMULATION (Cont…)

Where,

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 PROBLEM FORMULATION (Cont…)

Nonlinear Proportional-Integral observer design:

(2)

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PROBLEM FORMULATION (Cont…)

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 PROBLEM FORMULATION (Cont…)

Error system:
(t)

(3)

Where,
e(t) – Error State vector
z(t) – Output vector

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PROBLEM FORMULATION (Cont…)

(4)

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 PROBLEM FORMULATION (Cont…)

Assumption:
The non-linearity f (x, u) satisfies the Lipschitz condition for a Lipschitz
constant LP > 0

(5)

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 DISSIPATIVITY
System (1) is said to be strictly (Q, S, R)-dissipative if for any t ≥ 0 and some scalar θ
> 0, under zero initial state, the following condition is satisfied:

where Q ≤ 0, S and R are real matrices with appropriate dimensions. In addition, the
matrices Q and R are symmetric in nature.

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 MAIN RESULT

The stability of the error dynamics is proved by choosing the quadratic Lyapunov
function,

By substituting (4) in above equation, we get

(6)

Now, by considering,

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 MAIN RESULT

By combining (5), (6) and (7), we get

Where,

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 MAIN RESULT

By solving, we get

Let,

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 MAIN RESULT

Then by proving Γ<0, and by the definition of Lyapunov stability

theory, which ensure the stability of the error system with
satisfied disturbance attenuation index γ.

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EQUIVALENT CIRCUIT MODEL OF
BATTERY

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SIMULATION

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SIMULATION

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OCV-SOC CURVE

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SIMULATION RESULT

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SIMULATION RESULT

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SIMULATION RESULT

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 CONCLUSION

• A robust dissipative based PI observer is proposed to accurately

estimate the SoC of a lithium-ion battery.
• This accurate SoC estimation, not only enables more effective battery
management but also helps to improve the performance and reliability
of the battery and also, increases the accuracy of the range estimation
methods leading to a reduction of range anxiety.
• The considerable feature of the proposed method is its robust
performance against the modelling errors and uncertainties. This
feature allows the observer to compensate the estimation error under
uncertain environments.
• Furthermore, the proposed method is compared with coulomb counting
method and equivalent circuit model method.

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 CONCLUSION

• Using the Lyapunov criteria, the stability of the observer is also

affirmed.
• The estimated SOC with the dissipative based PI observer converges to
the reference SOC quickly, and the SOC estimation errors are
maintained in a small band.
• The proposed approach can accurately estimate the SoC.

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 REFERENCES

[1] Zhang, Y., Zhang, C., Zhang, X.: ‘State-of-charge estimation of the
lithiumion battery system with time-varying parameter for hybrid electric
vehicles’, IET Control Theory Appl., 2014, 8, (3), pp. 160–167

[2] Gholizadeh, M., Salmasi, S.R.: ‘Estimation of state of charge,

unknown nonlinearities, and state of health of a lithium-ion battery based
on a comprehensive unobservable model’, IEEE Trans. Ind. Electron.,
2014, 61, (3), pp. 1335–1344

[3] Chen, Q., Jiang, J., Ruan, H., et al.: ‘Simply designed and universal
sliding mode observer for the SoC estimation of lithium-ion batteries’, IET
Power Electron., 2017, 10, (6), pp. 697–705

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 REFERENCES

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 REFERENCES

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THANK YOU

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