Extremum Seeking Control based on Numerical Optimization and State Regulation - Part II: Robust and Adaptive Control Design

We consider the employment of numerical optimization and state regulation to solve the extremum seeking control problem. For state feedback linearizable systems, we propose a novel design of the state regulator via output tracking in the companion paper (Zhang and Ordonez, 2006), where we trade off the finite time state regulation to obtain flexibility in designing robust extremum seeking controller in this paper. We employ existing techniques such as nonlinear damping and nonlinear adaptive control to deal with input disturbance and unmodeled plant dynamics, respectively. The results of the robust extremum seeking control design are illustrated by simulation