This article addresses the design of a multivariable extremum-seeking controller for a class of nonlinear static multi-input systems. A method is proposed based on cyclic search directions and a monitoring function to guarantee the objective function to track an adequate reference trajectory via sliding-mode control. The method allows achieving an arbitrarily small neighborhood of the desired optimal point (extremum) starting from any initial conditions. Simulation results illustrate the significant advantages of the proposed multivariable control strategy in terms of speed of convergence, global convergence and small residual errors.

中文翻译：

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通过循环搜索和监控功能进行多变量极值搜索控制

本文讨论了一类非线性静态多输入系统的多变量极值搜索控制器的设计。提出了一种基于循环搜索方向和监控函数的方法，以保证目标函数通过滑模控制跟踪足够的参考轨迹。该方法允许从任何初始条件开始实现所需最佳点（极值）的任意小邻域。仿真结果说明了所提出的多变量控制策略在收敛速度、全局收敛和小残差方面的显着优势。