Asymmetric limit cycles and transfer properties of relay servo systems with integrating plants

Asymmetric limit cycles in relay servo systems with integrating plants are studied in the paper. A periodic solution is found, and a condition of local asymptotic stability of the periodic solution is also derived. A matrix state space description based formula and a transfer function based formula of the locus of a perturbed relay system for integrating plants are derived. An example of the analysis of transfer properties of a relay system is given.