The discontinuous planar piecewise linear system with two nodes has at most two limit cycles

This paper investigates the multiplicity and the number of limit cycles for planar piecewise linear system divided into two regions by a straight line and each linear subsystem has a node. Through constructing Poincare half maps and a successor function, and analyzing the properties of the successor function, we can derive that this system has at most two limit cycles, counting the multiplicities of limit cycles.