Abstract
Constraints on outputs or measured states arise in many practical engineering problems, yet are not readily handled by conventional extremum seeking techniques that require the output or states to be mapped to a corresponding input region. In this work, an alternative approach utilising non-linear programming techniques along with measurements of the constraint functions is proposed to enable a constrained extremum to be sought directly. Under reasonable assumptions and tuning, the proposed approach is shown to provide semi-global practical asymptotic stability guarantees for a class of MIMO plants. Simulation results are provided to demonstrate the efficacy of the proposed approach.
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