Tracking error sensitivity in a relay system operating in the forced oscillation mode

Abstract

Relay systems with two-position relay element and a smooth nonlinear control object operating in the forced oscillation mode are considered. A discrete linearization of such systems was proposed and based on it a method of determining the sensitivity function of the tracking error to the change of the control object’s parameters was developed. The method can be used to study the sensitivity of systems with symmetric pulse-width modulation that are widespread in engineering. The example illustrating obtaining the sensitivity function is presented.