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This paper proposes an extremum-seeking controller (ESC) design for a class of discrete-time nonlinear control systems subject to input constraints or quantized inputs. The proposed method implements a proportional-integral ESC design along with a discrete-time anti-windup mechanism. The anti-windup enforces input saturation while preserving the input dither signal. The technique incorporates a mechanism for adjusting the amplitude of the extremum seeking control dither signal. This mechanism ensures that any violation of constraints due to the dither signal is removed while maintaining the probing signal active. An amplitude update routine is also proposed. The amplitude update is coupled with a saturation bias estimation algorithm that correctly accounts for the inherent bias associated with systems operated at or near saturation conditions. The amplitude update is designed to remove the dither signal when the system approaches the optimum. It also ensures that a lower bound of the amplitude is enforced to guarantee that excitation conditions are maintained.

Extremum Seeking Control for Discrete-Time with Quantized and Saturated Actuators