A time-stepping method for relay systems

In this paper we will analyze a time-stepping method for the numerical simulation of dynamical systems containing Coulomb friction or relay characteristics. Time-stepping techniques replace the original dynamical system by a sequence of algebraic problems, that have to be solved for each time-step. For relay systems the one-step problem can be reformulated as a linear complementarity problem for which a wide range of solution algorithms already exists. As the event times at which the relay switches are "overstepped", the consistency of the method in the sense of the convergence of a sequence of approximations to an actual solution of the relay system can be put into question. However, in this paper we show that the proposed method is consistent even in the case that the event times accumulate (Zeno behavior). By an example we will illustrate how the method deals with Zeno trajectorie