Analysis of periodic motions in relay feedback systems with saturation in plant dynamics

A method of analysis of possible periodic motions in relay feedback systems and chattering in sliding-mode systems that have saturation in plant dynamics is proposed. The proposed analysis is based on the concept of the state locus of a relay feedback system. A few techniques of computing of the state locus are proposed. A methodology of finding a periodic motion that involves the state locus is given. The proposed method is illustrated by an example.