  Consider a dynamical system $u \mapsto x, \dot{x} = f_{nl}(x,u)$ where
$f_{nl}$ is a nonlinear (convex or nonconvex) function, or a combination of
nonlinear functions that can eventually switch. We present, in this preliminary
work, a generalization of the standard model-free control, that can either
control the dynamical system, given an output reference trajectory, or optimize
the dynamical system as a derivative-free optimization based "extremum-seeking"
procedure. Multiple applications are presented and the robustness of the
proposed method is studied in simulation.
