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Hi everyone,

I am trying to implement, Dual Extended Kalman Filter for battery state and parameters estimation simultaneously. Unfortunately, I faced with several problems.
First of all, I am not sure with the derivation of the derivatives for observe equation with respect to battery parameters. I found only one paper where they are represented explicitly. When I tried to repeat the calculation from this paper I obtained another values for some derivatives (some are the same).
Also, if we suppose that the derivatives are correct and implement filter with them, we will obtain the filter which is not robust at all: the observe signal (voltage) will not be filtered and the noises will be increased.

Did someone face the same problem? Could you help me find mistake in my filter please?
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