The　traditional　model　predictive　control　(MPC)　design　strategy　heavily　depends　on　the　dis-critization　of　the　non-linear　model　of　DC/DC　power　converters　to　approximate　the　direct　current　(DC)　microgrid　system　model.　The　system　model　does　not　includes　the　whole　information　of　the　physical　implementation　of　the　system.　Assumptions　have　been　made　to　add　the　model　and　sensor　uncertainties　in　the　system　model　to　form　a　model　with　fully　physical　information　that　enables　its　solution　through　the　linear　kalman　filtering　method　(　LKFM　).　Due　to　the　unbounded　of　the　DC　bus　voltage　estimation　error,　the　instability　of　the　LKFM　during　transient　response　increases　exponentially.　To　standardize　the　MPC　model　and　ensure　bounded　the　DC　bus　voltage　estimation　error,　a　centralized　controller　design　for　DC　bus　voltage　estimation　error　constrained　is　proposed　in　this　paper.　The　proposed　system　model　is　constructed　from　DC/DC　power　converters　and　then　translated　into　a　deterministic　model.　Through　measurements　and　time　updates,　the　LKFM　has　been　employed　to　estimate　the　DC　bus　voltage.　The　linear　quadratic　regulator　is　used　for　stabi-lizing　the　DC　bus　voltage　estimation　and　current　sharing　error　between　DC/DC　power　converters.　During　a　transient　response,　an　integral　action　is　utilized　to　close　the　loop　and　eliminate　an　error　in　DC　bus　voltage.　A　feedback　control　rule　of　the　DC　bus　voltage　estimation　and　a　Riccati　equation　have　been　used　to　develop　the　proposed　controller.　Finally,　the　proposed　approach　was　validated　using　Simulink,　the　Hardware-in-the-loop　laboratory,　and　compared　with　conventional　control　approaches.　Moreover,　the　LKFM＇s　stability　was　examined　using　exponential　stability　criteria.