A relay-type feedback control system design for random inputs

EARLIER literature has suggested the design of the so-called optimum relay control system, where the term “optimum” is based on the system having the fastest possible response in terms of reducing the error to minimum following a step or ramp input.1‾
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It has been pointed out that these systems are optimum only in this special sense, and that their response to other types of input may be undesirable.5