Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation
Published in arXiv, 2026
Extremum-seeking control (ESC) is widely used to optimize performance when the system dynamics are uncertain. However, sensitivity to sensor noise is an important issue in ESC implementation due to the use of high-pass filters or gradient estimators. To reduce the sensitivity of ESC to noise, this paper investigates the use of adaptive input and state estimation (AISE) for numerical differentiation. In particular, this paper develops extremum-seeking control with adaptive input and state estimation (ESC/AISE), where the high-pass filter of ESC is replaced by AISE to improve performance under sensor noise. The effectiveness of ESC/AISE is illustrated via numerical examples.
Accepted to Amer. Contr. Conf. (ACC), New Orleans, Louisiana, May 2026.
Preprint: Link
Recommended citation: S. Verma, J. A. Paredes Salazar, J. M. Portella Delgado, A. Goel, and D. S. Bernstein, "Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation," arXiv preprint arXiv:2501.04275, accepted to Amer. Contr. Conf. (ACC), New Orleans, Louisiana, May 2026.