  In [22] a form of extremum seeking for control (ESC) was developed for the
stabilization of uncertain nonlinear systems. In ESC the extremum seeker itself
controls the systems through feedback rather than fine tuning a controller. The
ESC results, and other related results, apply only to systems affine in
control. However, in most physical systems the control effort enters the
system's dynamics through a nonlinear function, such as an input with deadline
and saturation. In this work, we utilize our previous results on ESC to develop
stabilizing controllers for systems of practical interest that are non-affine
in control.
