@article {Eckhard:Bazanella:2012,
	title = {Robust convergence of the steepest descent method for data-based control},
	journal = {International Journal of Systems Science},
	volume = {43},
	number = {10},
	year = {2012},
	note = {n/a},
	pages = {1969{\textendash}1975},
	abstract = {<p>Iterative data-based controller tuning consists of iterative adjustment of the controller parameters towards the parameter values which minimise an {H2} performance criterion. The convergence to the global minimum of the performance criterion depends on the initial controller parameters and on the step size of each iteration. This article presents convergence properties of iterative algorithms when they are affected by disturbances.</p>
},
	issn = {0020{\textendash}7721},
	doi = {10.1080/00207721.2011.563874},
	author = {D. Eckhard and A. S. Bazanella}
}
