For planar piecewise linear systems split by a line where both sides have node-type equilibria, the number of limit cycles, counted with multiplicity, is at most two.
Part I: Simplest case in R2, International Journal of Circuit Theory and Applications, 1991, 19(3): 251-307
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The discontinuous planar piecewise linear system with two nodes has at most two limit cycles
For planar piecewise linear systems split by a line where both sides have node-type equilibria, the number of limit cycles, counted with multiplicity, is at most two.