Chaos in a four-dimensional system consisting of fundamental lag elements and the relation to the system eigenvalues

A simple system consisting of a second-order lag element (a damped linear pendulum) and two first-order lag elements with piecewise-linear static feedback that has been derived from a power system model is presented. It exhibits chaotic behavior for a wide range of parameter values. The analysis of the bifurcations and the chaotic behavior are presented with qualitative estimation of the parameter values for which the chaotic behavior is observed. Several characteristics like scalability of the attractor and globality of the attractor-basin are also discussed.