A method of analysis and synthesis of closed loop servo systems containing small discontinuous non-linearities
Duane T. McRuer, R. G. Halliday · IRE Transactions on Circuit Theory · 1954
A method is presented for molding non-linear elements of a system into equivalent linear elements so that existing linear methods of analysis and synthesis may be applied. The method can be applied in a Large number of practical cases, particularly in the more complex systems. It is based upon a Fourier expansion of the output waveform of a sinusoidally excited discontinuous element. Several cases of practical importance are considered, and charts are presented which may be used in analysis or design.