In　this　conference,　an　optimal　tracking　control　for　stabilizing　DC-grid　voltage　estimation　and　equal　power-sharing　in　DC-Microgrid　systems　is　proposed.　Unlike　the　traditional　control　approach,　the　control　design　is　integrated　with　inductance　current　sensors,　costly,　with　less-efficient.　The　system　modeling　is　transformed　into　stochastic　to　handle　the　process　and　measurement　noises.　The　linear　Kalman　filtering　algorithm　is　adopted　to　estimate　the　DC-grid　voltage　through　measurement　and　time　update.　The　linear　quadratic　regulator　(LQR)　is　used　to　stabilize　the　DC-grid　voltage　estimation.　The　closed-loop　is　achieved　through　an　integral　action　to　eliminate　an　error　during　a　transient　response.　The　proposed　controller　is　designed　using　state　feedback　control　law　with　dynamic　algebraic　Riccati　equation　under　LQR.　Fast　convergence,　DC-grid　voltage　estimation,　and　power-sharing　between　distributed　energy　resources　are　achieved.　©　2021　IEEE.