Abstract: Systems, methods, and devices are provided for executing cell balancing in an energy storage system. The systems, methods, and devices may comprise an imbalance estimation system and a balancing execution system. The imbalance estimation system may be configured to receive, and to determine an estimated cell imbalance and imbalance estimation uncertainty of the energy storage. The estimated cell imbalance of the energy storage may be based on a voltage input, V, representing a measured voltage associated with the energy storage device, and a probabilistic battery model associated with the energy storage device. The balancing estimation system may comprise a balancing circuit, the balancing execution system configured to partially discharge a cell via the balancing circuit based on the estimated cell imbalance of the energy storage device.