Output-Feedback Integral Sliding-Mode Extremum Seeking with Super-Twisting Differentiation

Abstract

This paper develops a dither-free output-feedback extremum-seeking controller for pre-stabilized nonlinear dynamic systems with unknown steady-state performance maps. The controller uses only the measured performance, the applied parameter, and internal states. Within a local state--parameter domain, integral sliding mode enforces equality between the applied parameter rate and a prescribed nonzero search velocity after finite-time capture under bounded matched rate-channel perturbations. This motion lets a super-twisting differentiator and rate normalization recover a gradient-sign surrogate without demodulation or averaging. A ramp-corrected moving-equilibrium coordinate cancels the first-order ramp-induced plant term and yields explicit flow, reversal, recovery, and dynamic-remainder bounds. The resulting local state--parameter tube supplies the regularity needed for finite-time exact differentiation. Combined with a deadbanded hybrid relay, these results establish local practical convergence to an explicit neighborhood of the unknown optimum. An 80-state tubular-reactor benchmark and paired held-out Monte Carlo tests compare a causal sampled realization with perturbation ESC and a rate-informed super-twisting comparator. The proposed realization succeeds in all 200 held-out cases and attains the smallest upper-tail objective gap under the stated tuning protocol. A matched-rate sweep connects performance degradation to applied-rate mismatch, near-stall motion, reversal, and regularization attenuation.