Linearization of relay controlling systems with three-position relay block and non-linear controlled plant with respect to the actual signal

Relay systems with a three-position relay block and a non-linear controlled plant are considered. Much attention is given to the class of relay systems important in applications, when the control plant contains blocks with limiters. Two methods of linearization of these systems with respect to the actual signal are proposed. Both methods allow us to investigate the tracking mode in the relay system quite simply. The first method reduces the relay system to a certain linear discrete system, and the second one does the same for a linear system with continuous time.