To my belief, there is no such built-in function in MATLAB for designing UKF.

A good read : Wan, Eric A., and Rudolph Van Der Merwe. "The unscented Kalman filter for nonlinear estimation." Adaptive Systems for Signal Processing, Communications, and Control Symposium 2000. AS-SPCC. The IEEE 2000. Ieee, 2000.

Hi Mamoona,

You can find a copy of a Matlab example at the following link:

https://www.mathworks.com/matlabcentral/fileexchange/18217-learning-the-unscented-kalman-filter

Hope it helps.

Hi Mamoona,

You use the UKF when the state transition and observation models—that is, the predict and update functions "f" and "g"are highly non-linear, the extended Kalman filter can give particularly poor performance). I dont know why you want to use UKF for RC system(linear) but if you want to do anyway:

https://www.seas.harvard.edu/courses/cs281/papers/unscented.pdf

Check that example and code the algorithm in matlab.

Best regards!

Hi Damel,

i am estimating state of charge of 1 RC lithium ion battery which is highly non-linear.