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Perturbation observer design based on extremum seeking cont..:

Taleshian, Tahereh ; Ranjbar Noei, Abolfazl ; Sadati, Jalil.
Transactions of the Institute of Measurement and Control.  46 (2023)  5 - p. 886-898 , 2023
Link: https://doi.org/10.1177/01423312231184561