Includes supplementary material: sn.pub/extras

Part I Analysis of Relay Feedback Systems: Existence of Solutions.- Existence of Limit Cycles.- Local Stability of Limit Cycles.- Global Stability of Limit Cycles. Part II Process Identification from Relay Feedback Test: Relay Feedback and Its Variations.- Use of Relay Transient Responses.- Transfer Function Modeling.- A General Identification Approach. Part III Control Design: Single Variable Systems.- Multivariable Systems.- Partial Internal Model Control.- Decentralized Control.