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Abstract
It is shown that the use of approximate second order model with transportation lag for high order (> 2) transfer function and use of properly designed linear mode switching boundary based on Ostrovski's switching hyperplane concept allow considerable reduction in the complexity of switching computer of a dualmode minimum time control system without any appreciable deviation from the minimium time. Furthermore, the use of approximate second order model with transportation lag for high order (>2) relay control system permits the use of phase plane method for calculating the period and amplitude of limit cycle with reasonable accuracy and thus provides a method far simpler as compared to the methods of Tsypkin and Hamel.