Extremum-seeking control for optimization of time-varying steady-state responses of nonlinear systems

Leroy Hazeleger (Corresponding author), Mark Haring, Nathan van de Wouw

Research output: Contribution to journalArticleAcademicpeer-review

3 Citations (Scopus)
17 Downloads (Pure)


Extremum-seeking control (ESC) is a useful tool for the steady-state performance optimization of plants for which limited knowledge about its dynamical behavior and disturbance situation is known. The case when the steady-state plant responses correspond to equilibrium solutions received a lot of attention. However, in many industrial applications plant performance is characterized by time-varying steady-state behavior. In those cases, no static parameter-to-steady-state performance map can be defined. In this work, we propose an ESC method that employs a so-called dynamic cost function to cope with time-varying steady-state responses of general nonlinear systems. We prove semi-global practical asymptotic stability of the closed-loop ESC scheme in the presence of bounded and time-varying external disturbances. Moreover, the working principle is illustrated by means of the real-time performance optimal tuning of a nonlinear control strategy for a motion control application.
Original languageEnglish
Article number109068
Number of pages13
Publication statusPublished - 1 Sep 2020


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