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Zhanybai T. Zhusubaliyev, Evgeniy Soukhoterin, Vadim N. Rudakov, Yury V. Kolokolov, Erik Mosekilde. Bifurcations and Chaotic oscillations in an Automatic Control Relay System with Hysteresis. I. J. Bifurcation and Chaos, 11(5):1193-1232, 2001. [doi]