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Although the dynamic behavior of piecewise-smooth systems is still far from being understood completely, some significant results in this field have been achieved in the last twenty years. The investigation of these systems is important not only because they represent adequate models for many applications ranging from mechanical and electrical engineering up to financial markets, but also due to the importance of the phenomena observed in other types of dynamical systems as well. It is natural, therefore, to begin the analysis with the most simple subclass of piecewise-smooth systems (namely...