Abstract
Nonlinear effects can lead to performance degradation in (controlled) dynamical systems. This paper provides a practical method to optimally compensate performance degrading nonlinear effects in Lur'e-type systems in an automated way. Using novel frequency domain based techniques, a well defined performance measure is derived and real-time performance optimization is achieved by application of extremum seeking algorithm. This yields a new method for real-time compensation of performance degrading nonlinear effects, which is successfully demonstrated in both simulation and experiment.
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