Geodesic
Stability of the zero solution of a relay system of ordinary differential equations with two relays
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 291 (2015), pp. 182-201

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A relay system of ordinary differential equations whose right-hand sides are sums of linear functions and two discontinuous functions is considered. The stability of the zero solution of a typical relay system of this kind is analyzed. 
@article{TM_2015_291_a13,
     author = {A. A. Losev},
     title = {Stability of the zero solution of a relay system of ordinary differential equations with two relays},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {182--201},
     publisher = {mathdoc},
     volume = {291},
     year = {2015},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2015_291_a13/}
}
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A. A. Losev. Stability of the zero solution of a relay system of ordinary differential equations with two relays. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 291 (2015), pp. 182-201. http://geodesic.mathdoc.fr/item/TM_2015_291_a13/