An extremum seeking controller includes a processing circuit configured to modulate a manipulated variable provided as an input to a plant using an extremum-seeking control technique to drive a gradient of an objective function with respect to the manipulated variable toward an extremum. The objective function includes a performance variable characterizing a performance of the plant responsive to the manipulated variable. The objective function also includes a saturation adjustment term that becomes active as the plant approaches a saturation point and remains active as the plant operates within a saturated region past the saturation point. The saturation adjustment term causes the processing circuit to adjust the manipulated variable toward a value of the manipulated variable that returns the plant from the saturated region to a non-saturated region.

A cooperative extremum-seeking control system includes a first controller and a second controller. The first controller is configured to provide a first control input to a first plant and receive a first performance variable as feedback from the first plant. The second controller is configured to provide a second control input to a second plant that interacts with the first plant, receive a second performance variable as feedback from the second plant, and provide the second performance variable to the first controller. The first controller is further configured to aggregate the first performance variable and the second performance variable to determine a total performance variable, calculate a gradient of the total performance variable with respect to the first control input, generate a third control input using the gradient of the total performance variable, and provide the third control input to the first plant.

An extremum seeking controller includes a processing circuit configured to modulate a manipulated variable provided as an input to a plant using an extremum-seeking control technique to drive a gradient of an objective function with respect to the manipulated variable toward an extremum. The objective function includes a performance variable characterizing a performance of the plant responsive to the manipulated variable. The objective function also includes a saturation adjustment term that becomes active as the plant approaches a saturation point and remains active as the plant operates within a saturated region past the saturation point. The saturation adjustment term causes the processing circuit to adjust the manipulated variable toward a value of the manipulated variable that returns the plant from the saturated region to a non-saturated region.

A cooperative extremum-seeking control system includes a first controller and a second controller. The first controller is configured to provide a first control input to a first plant and receive a first performance variable as feedback from the first plant. The second controller is configured to provide a second control input to a second plant that interacts with the first plant, receive a second performance variable as feedback from the second plant, and provide the second performance variable to the first controller. The first controller is further configured to aggregate the first performance variable and the second performance variable to determine a total performance variable, calculate a gradient of the total performance variable with respect to the first control input, generate a third control input using the gradient of the total performance variable, and provide the third control input to the first plant.