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This chapter revisits the state estimation problem in power system and develops a direct approach of a mathematical programming solution for the most relevant estimators. Traditionally, power system state estimation is tackled by solving the system of nonlinear equations corresponding to the first‐order necessary optimality conditions of the estimation problem.

Besides the traditional approach, the estimation problem can be solved directly, which has a number or advantages such as (i) including inequality constraints representing physical hard limits, (ii) taking advantage of currently available state‐of‐the‐art nonlinear programming solvers, (iii) treating sparsity in an efficient and implicit manner, etc.

For the interested reader, pioneering state estimation works include [1–6]. A detailed description of state estimation in power system is provided in [7], which includes an appropriate literature review.