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Extremum Seeking Control With an Adaptive Gain Based on Gra..:

Danielson, Claus ; Bortoff, Scott A. ; Chakrabarty, Ankush
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  53 (2023)  1 - p. 152-164 , 2023
Link: https://doi.org/10.1109/tsmc.2022.3171132