US 11,899,409 B2
Extremum seeking control system and a method for controlling a system
Claus Danielson, Albuquerque, NM (US); and Ankush Chakrabarty, Bedford, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Mar. 7, 2021, as Appl. No. 17/194,283.
Prior Publication US 2022/0291641 A1, Sep. 15, 2022
Int. Cl. G05B 13/02 (2006.01)
CPC G05B 13/021 (2013.01) 16 Claims
OG exemplary drawing
 
1. An extremum seeking control (ESC) system for controlling a subject system, the ESC system comprising:
at least one processor; and
a memory having instructions stored thereon that, when executed by the at least one processor, cause the ESC system to:
receive a tracking error, consecutive measurements of a system output of the subject system, and consecutive measurements of a cost function of the subject system, wherein the tracking error is a difference between a set-point of the subject system and a measurement of the system output;
estimate a gradient indicating a direction of change of the set-point of the subject system, based on the tracking error, the consecutive measurements of the system output, and the consecutive measurements of the cost function of the subject system;
determine a weight based on the tracking error and a difference between consecutive measurements of the system output;
determine a covariance of the gradient, based on the weight and the difference between the consecutive measurements of the system output;
determine a step-size based on a ratio of the covariance of the gradient to the gradient, wherein the step-size corresponds to a magnitude of the change of the set-point of the subject system; and
determine a set-point optimizing performance of the subject system, based on the direction of the change of the set-point of the subject system, and the magnitude of the change of the set-point of the subject system; and
a feedback controller configured to:
generate one or more control commands defining one or more operational parameters of the subject system, based on the determined set point; and
control the subject system according to the one or more control commands.