Abstract: A cooperative extremum-seeking control system includes a first controller and a second controller. The first controller is configured to provide a first control input to a first plant and receive a first performance variable as feedback from the first plant. The second controller is configured to provide a second control input to a second plant that interacts with the first plant, receive a second performance variable as feedback from the second plant, and provide the second performance variable to the first controller. The first controller is further configured to aggregate the first performance variable and the second performance variable to determine a total performance variable, calculate a gradient of the total performance variable with respect to the first control input, generate a third control input using the gradient of the total performance variable, and provide the third control input to the first plant.