TABLE 1.  Piecewise-linear Library Functions

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   1. Simple Limiter                                          
                                                    /        
             0 (x < 0)                            /          
   lim(x) =                            /   
             x (x >= 0)                                      
                                                 slope=1     
                                                              
   2. Saturation Limiter                                      
                                               1      
             1 (x <= -1)                         /           
   sat(x) =  x (-1 < x < 1)            /   
            -1 (x >= 1)                       /  slope=1     
                                          -1           
                                                               
   3. Deadzone Limiter                                         
                                                      /      
             x + 1  (x < -1)               -1       /        
 deadz(x) =  0  (-1 < x < 1)           /   
             x - 1  (x > 1)                 /     1          
                                          /      slope=1     
                                                              
   3. Simple Switch (Comparator)                               
                                              1     
             0 (x <= 0)                                      
 swtch(x) =                              
             1 (x > 0)                                       
                                                             
                                                              
   4. Sign Function (Comparator)                               
                                              1     
             -1 (x < 0)                                      
   sgn(x) =   0 (x = 0)                  
              1 (x > 0)                                      
                                       ͼ-1           
                                                              
   5. Deadspace Comparator                                   
                                               1     
             -1 (x <= -1)                 -1                
 deadc(x) =   0 (-1 < x < 1)             
              1 (x >= 1)                         1          
                                      ͼ   -1           
                                                             



