Bang-bang control of a plant with one positive real pole and one negative real pole

In this paper, a relay-controlled plant, possessing one positive real pole and one negative real pole, is studied. First, a regulating system is considered; we investigate the design of the controller for simultaneous reduction of error and error derivative to zero. It is seen that this can be achieved provided the initial values of error and error derivative fall inside an admissible (or controllable) region. Attention is then focused on the tracking system. It is shown that, provided the input to the system is of a form similar to the impulse response of the plant, and provided the initial values of error and error derivative of the system fall inside the same admissible region, then the controller used for regulating the system can also be used for tracking the system so as to force the output of the plant to follow the input perfectly; in both cases with at mostone switching reversal of the relay.