On delta-modulated control: A simple system with complex dynamics

In this paper, we investigate some interesting properties of a scalar system controlled by Δ-modulated feedback. We show that there are three different cases. In the first case, there is a minimal global attractor which consists of only two points. The two points form either one 2-periodic orbit or two 1-periodic orbits (fixed points). We also characterize the attracting region for each of these two points. In the second case, the maximal stabilizable region is bounded, and there is a minimal local attractor inside this stabilizable region. In the third case, the maximal stabilizable set is a Cantor set, which is a repeller of the system, and the system is chaotic on the Cantor set.