Input-output analysis of limit cycling relay feedback control systems

This paper proposes a frequency-domain method for input-output analysis of a class of relay feedback control systems. The approach is based on the notion of the locus of a perturbed relay system. The proposed locus specifies the response of a linear plant to its non-symmetric pulse waveform input in a closed-loop system and, consequently, comprises transfer properties of the relay system. Formulae for loci calculation are derived. The techniques of computing of the parameters of limit cycles and the gain of the relay employing the notion of the locus are given.