Geodesic
Stability of the zero solution of a relay system of ordinary differential equations with two relays
Informatics and Automation, 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. 
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A. A. Losev. Stability of the zero solution of a relay system of ordinary differential equations with two relays. Informatics and Automation, Optimal control, Tome 291 (2015), pp. 182-201. http://geodesic.mathdoc.fr/item/TRSPY_2015_291_a13/

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