(*Nasser M. Abbasi, 9/28.2015*)
Manipulate[
Module[{x},
g[x_,r_,k_]:=r-x/k;
f[x_]:=Piecewise[{{0,-1≤ x≤ 1},{x-1,1≤ x},{x+1,x≤ -1}}];
(*f[x_]:=Piecewise[{{-0.5,x≤ -1.0},{x+1/2,-1≤ x≤ -1/2},{0,-1/2≤ x≤ 1/2},{x-1/2,1/2≤ x≤1},{1/2,x>1}}];*)
data=First@Last@Reap[Do[
sol=x/.First@NSolve[f[x]==g[x,r,k],x];
Sow[{r,f[sol]}],
{r,-2,2,.2}
]
];
Grid[{
{Row[{Text@Style["Red color is linearized device output using feedback",Medium]}]},
{
Show[Plot[f[x],{x,-2,2},Exclusions->None],ListLinePlot[data,PlotStyle->Red],ImageSize->400,GridLines->Automatic]
}}
]
],
{{k,1,"k"},1,20,.1,Appearance->"Labeled"},
TrackedSymbols:>{k}
]