PID tuning using extremum seeking: online, model-free performance optimization

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Model-free control (2013, background): “…see, e.g., Bilal Kadri (2009); Chang, Gao & Gu (2011); Hahn & Oldham (2012); Hong-wei, Rong-min & Hui-xing (2011); Keel & Bhattacharyya (2008); Killingsworth & Krstic (2006); Malis & Chaumette (2002); dos Santos Coelho, Wicthoﬀ Pessˆoa, Rodrigues Sumar & Rodrigues Coelho (2010); Spall &…”
Bayesian optimization with safety constraints: safe and automatic parameter tuning in robotics (2016, neutral): “…algorithms in the literature do not consider safety of the optimization process, and make other restrictive assumptions such as requiring gradients (Killingsworth and Krsti´c 2006; ˚Astr¨om et al. 1993), which are difﬁcult to obtain from noisy data, or an impractical number of experiments (Davidor…”
Safe controller optimization for quadrotors with Gaussian processes (2015, methodology): “Classical approaches to automate this process, such as the ones in [2] and [3], either rely on model assumptions (e.”