Complex dynamics in a hysteretic relay feedback system with delay (Q883115)

A system which consists of a planar linear differential equation coupled with a non-ideal relay in the feedback loop is considered. The authors study different types of dynamics, depending on the sign of the feedback, and the effect of a delay in the feedback on the dynamics. For a system with negative feedback without delay, it is shown that any cycle has a simple structure: it must be characterised by two relay switches and be symmetric. For a system with positive feedback without delay, a mixing property is proved, which can potentially lead to the existence of more complicated cycles and complex dynamics. The effect of the delay in the feedback loop is shown to depend on how the delay compares to the width of the hysteretic region. In case of a small delay, the dynamics of the delayed and nondelayed systems are qualitatively the same. A larger delay can, for example, cause the system with negative feedback to exhibit a more complicated dynamics similar to that of a nondelayed system with positive feedback, as shown by a numerical example and a semianalytical argument. Finally, a new bifurcation leading to complex dynamics is identified, which occurs when the delayed switching line intersects the relay hysteretic lines. The proofs are based on the phase space argument. Rigorous results are complemented by, and combined with, numerical examples and bifurcation diagrams.