A method for adaptive acoustic feedback cancellation in an audio device , comprising: processing an incoming audio signal of the audio device to produce a loudspeaker signal using an adaptive feedback canceller (110; 620, 622) to cancel acoustic feedback in the incoming audio signal; and updating the adaptive feedback canceller (110; 620, 622) by applying an optimization criterion determined to enhance robustness of the adaptive feedback canceller (110; 620, 622) against disturbances in the incoming audio signal of the audio device , such that the adaptive feedback canceller (110; 620, 622) remains in a converged state in response to presence of the disturbances, wherein applying the optimization criterion further comprises: producing, using an adaptive filter , a feedback estimate being an estimate of the acoustic feedback in the incoming audio signal; determining a gradient estimate based on an error signal and the loudspeaker signal, wherein the error signal based on the incoming audio signal subtracted by the feedback estimate is constrained by: limiting the error signal ; applying a scale factor to the error signal ; and determining a sign of the error signal ; and updating coefficients of the adaptive filter and the adaptive feedback canceller (110; 620, 622) using the determined gradient estimate. processing an incoming audio signal of the audio device to produce a loudspeaker signal using an adaptive feedback canceller (110; 620, 622) to cancel acoustic feedback in the incoming audio signal; and updating the adaptive feedback canceller (110; 620, 622) by applying an optimization criterion determined to enhance robustness of the adaptive feedback canceller (110; 620, 622) against disturbances in the incoming audio signal of the audio device , such that the adaptive feedback canceller (110; 620, 622) remains in a converged state in response to presence of the disturbances, wherein applying the optimization criterion further comprises: producing, using an adaptive filter , a feedback estimate being an estimate of the acoustic feedback in the incoming audio signal; determining a gradient estimate based on an error signal and the loudspeaker signal, wherein the error signal based on the incoming audio signal subtracted by the feedback estimate is constrained by: limiting the error signal ; applying a scale factor to the error signal ; and determining a sign of the error signal ; and updating coefficients of the adaptive filter and the adaptive feedback canceller (110; 620, 622) using the determined gradient estimate. producing, using an adaptive filter , a feedback estimate being an estimate of the acoustic feedback in the incoming audio signal; determining a gradient estimate based on an error signal and the loudspeaker signal, wherein the error signal based on the incoming audio signal subtracted by the feedback estimate is constrained by: limiting the error signal ; applying a scale factor to the error signal ; and determining a sign of the error signal ; and limiting the error signal ; applying a scale factor to the error signal ; and determining a sign of the error signal ; and updating coefficients of the adaptive filter and the adaptive feedback canceller (110; 620, 622) using the determined gradient estimate. <EOS>