Frequency domain based real-time performance optimization of Lur'e systems

• Frequency domain based performance assessment of nonlinear systems in practice.
• Performance based on output measurements only, requiring no dynamical models.
• Application of extremum seeking control for real-time performance optimization.
• Application of the proposed methodology in both simulation and experiment.

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.