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A Graphical Approach to Examining Classical Extremum Seekin..:

Nguyen, Duc H. ; Lowenberg, Mark H. ; Neild, Simon A.
IEEE Transactions on Control Systems Technology.  31 (2023)  3 - p. 1324-1335 , 2023
Link: https://doi.org/10.1109/tcst.2023.3242199