Bounded extremum seeking with discontinuous dithers

The analysis of discontinuous extremum seeking (ES) controllers, e.g. those applicable to digital systems, has historically been more complicated than that of continuous controllers. We establish a simple and general extension of a recently developed bounded form of ES to a general class of oscillatory functions, including functions discontinuous with respect to time, such as triangle or square waves with dead time. We establish our main results by combining a novel idea for oscillatory control with an extension of functional analytic techniques originally utilized by Kurzweil, Jarnik, Sussmann, and Liu in the late 80s and early 90s and recently studied by Dürr et al. We demonstrate the value of the result with an application to inverter switching control.