Plot of the chemical reactor in Example 4.3. The measured states are the third and the fifth, the variances of the measurement noises are 9 × 10 −4 and 10 −8 , respectively. The computation times of ODE-EKF, DAE-EKF, ODE-UKF, DAE-UKF are 7.5082 s, 16.4353 s, 178.7342 s and 138.5590 s, respectively. . 4.9 The top plot displays the true SOC (blue solid line) and the estimated SOC