Slope seeking control using multi-units

This paper introduces a new method for slope seeking control of the model-independent nonlinear continuous static scalar and unconstrained systems. The proposed controller is the generalization of a global optimization scheme based on multi-unit extremum seeking control that drives the estimated gradient to an arbitrary slope. Herein, a monotonically decreasing offset is introduced between the inputs of two identical units and the estimated gradient by finite difference is controlled to a commanded slope of the nonlinear map by means of an integrator. The algorithm is applied to an illustrative simulation to demonstrate the successful capability of the proposed slope seeking feedback control.