This work analyzes oscillations in a Chua-like circuit from a new perspective by reformulating the original system as a relay feedback loop that carries a lumped input delay. Leveraging the Locus of Perturbed Relay Systems (LPRS) framework, we identify, for the first time, all possible symmetric periodic orbits—including unstable periodic orbits (UPOs)—that exhibit sign-definite behavior in each half-cycle. The LPRS delivers periodic solutions for all periodic orbits—whether stable or unstable—together with closed-form expressions for periodic waveforms, initial conditions, and orbital stability. The analysis reveals how these solutions emerge, vanish, or transition in stability as the time delay is varied. Through rigorous orbital stability criteria, we map delay-induced bifurcations that mark transitions between chaotic and periodic regimes. Our findings demonstrate that time delay, typically viewed as a parasitic effect, can be harnessed as a tunable parameter for chaos suppression in discontinuous dynamical systems, offering new avenues for controlled oscillations in practical implementations of Chua-like circuits.
This article investigates the effects of blade damage on the dynamics of multirotor vehicles. A detailed explainable model that captures both the loss of effectiveness and the vibrations caused by damage to the propellers is proposed. Vibration contributions are calculated in the time domain and then further analyzed in the frequency domain, providing a theoretical justification for fault detection and isolation methods based on the frequency domain. The proposed model extends the classical control models adopted in the literature by including vibrations. The damping operated by the mechanical structure is finally estimated on an experimental case study, using flight data acquired from a hexarotor.
