Extremum Seeking for Stabilization of Systems Not Affine in Control
  In [22] a form of extremum seeking for control (ESC) was developed for the stabilization of uncertain nonlinear systems. In ESC the extremum seeker itself controls the systems through feedback rather than fine tuning a controller. The ESC results, and other related results, apply only to systems affine in control. However, in most physical systems the control effort enters the system's dynamics through a nonlinear function, such as an input with deadline and saturation. In this work, we utilize our previous results on ESC to develop stabilizing controllers for systems of practical interest that are non-affine in control. 
Alexander Scheinker and David Scheinker
math.DS cs.SY