Implementation techniques for the SCFO experimental optimization   framework
  The material presented in this document is intended as a comprehensive, implementation-oriented supplement to the experimental optimization framework presented in a companion document. The issues of physical degradation, unknown Lipschitz constants, measurement/estimation noise, gradient estimation, sufficient excitation, and the handling of soft constraints and/or a numerical cost function are all addressed, and a robust, implementable version of the sufficient conditions for feasible-side global convergence is proposed. 
Gene A. Bunin, Gr\'egory Fran\c{c}ois, Dominique Bonvin
math.OC