Richard Steenis Daniel E. Rivera Plant-Friendly Signal Generation for System Identification Using a Modified Simultaneous Perturbation Stochastic Approximation (SPSA) Methodology. 1604-1612 2011 19 IEEE Trans. Contr. Sys. Techn. 6 http://dx.doi.org/10.1109/TCST.2010.2089795 db/journals/tcst/tcst19.html#SteenisR11