We present the design and implementation of an extremum seeking based shake table controller, where the goal is to generate and track a sinusoid of given amplitude, frequency and phase. Advantages of an extremum seeking based controller over previous shake table controllers are that it is a modular design with respect to linear and nonlinear shaker-specimen dynamics, and with respect to different shaker-specimen combinations. In addition, it can handle time varying dynamics due to possible changes in the specimen during testing. Also, it does not require a plant model to operate, but has the capability to take advantage of minimal knowledge of the plant to improve transient performance.

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