Extremum Seeking Control

Below, you can find Matlab codes of the analog extremum seeking control algorithms for the unidimensional and two-dimensional case [1]. A GUI is also provided.


ESC_matlab.zip (1MB)


Robotics Toolbox [2] Release 8.


In order to start the GUI for unidimensional and multidimensional case, write "ESC_GUI_uni" and "ESC_GUI_multi" to the command line in "ESC_matlab" folder.

To use the simulink models without GUI, you can use the files "sim_run_uni" and "sim_run_multi".

For all the simulink blocks, write "ESC_blocks" to the command line.

ROS packages

ROS packages can be found in the ROS repository in the following names:

  • esc_sm
  • esc_nn
  • esc_approx
  • esc_perturb


(c) 2012 Berk Calli, Delft University of Technology. All rights reserved.

All the codes and simulink diagrams are written in Delft Biorobotics Laboratory, Biomechanical Engineering Department, Delft University of Technology, by Berk Calli, PhD candidate.


Please e-mail to b.calli@remove-this.tudelft.nl for any comments or questions.


[1] B. Calli, W. Caarls, P. Jonker, M. Wisse, "Comparison of Extremum Seeking Control Algorithms for Robotic Applications", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

[2] P.I. Corke, "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), pp. 24-32, 1996.


© 2017 TU Delft