Abstract
Discussed in this paper is an on-off control of the controlled object with astatic behavior. Ampli-tude of limit cycle becomes very small when loop transfer function of linear parts except relay takes the form of K(1+K0T0s)/s(1+T0s) by properly designed compensator. Transient response of the system depends on T0 and k0. Magnitude of T0 and ko is so determined that the ISE becomes minimum for the step change of reference value. Thus obtained optimal values T0 and k0 generally depend on the magnitude of change of reference value.
