This paper is concerned with the analysis of periodic solutions and their bifurcations in relay control feedback systems. The occurence of periodic solutions characterised by sliding section is outlined and particular care is taken in studying the bifurcation leading to their formation. Discrete-time mappings are introduced and used to characterise the regions of existence and stability of various periodic orbits. Also, bifurcations of sliding orbits into more complex solutions such as multi-sliding orbits are investigated.
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