The phase space theory and its application to the analysis and design of discontinuous systems hrs been discussed for both linear and saturated systems with step and ramp inputs. The general approach is to analyze the futures of the trajectories in error space, and design various control computers to change the character of the system at proper instants to make the system have fast and nearly dead beat response. For the purpose of applying the theory to physical systems, the idea of using low order signals to control high order systems he a been investigated. And the idea of combining a continuous system with a relay servo system to form three mode operation has been introduced.http://www.archive.org/details/phasespacemethod00han
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