A method for state estimation of a distribution network comprises: (a) obtaining measurements from phasor measurement units (PMUs) placed at buses in the distribution network; (b) constructing a quotient gradient system (QGS) based on a constraint set H that relates the measurements to state variables of the distribution network; (c) integrating the QGS to reach a steady state; (d) identifying one or more of the state variables whose measurement residuals violate a measurement residual constraint in the constraint set H; (e) integrating a reconstructed QGS, which is reconstructed based on the constraint set H by setting the identified one or more state variables to values of corresponding PMU measurements; (f) iterating steps of (d) and (e) until no measurement residuals violate the measurement residual constraint, to thereby obtain the state estimation; and (g) reporting the state estimation to a control system during real-time monitoring of the distribution network.