Effect of rate feedback on dynamics of relav servosystem with load

There is analysed effect of the rate feedback on free oscillations of the relay servosystem with load. The linear part of the servosystem is described by the complete secondorder equation. Accurate methods and the theory of point transformation [1] are used for the analysis.
Initial conditions of appearance of sliding behaviour in the system are determined as well as the number of relay switchings with sliding behaviour in the system during the process of oscillations settling. There are determined amplitude and half-period time of oscillations versus system parameters.