RELION is an abbreviation for the relay-linear control law. It as a double structure—relay and linear—and it is a modification of the constructive time-sub-optimal control law,u= sgn(pMx + sgn(pM-1+ … + sgn(p2x + sgnpix)…)). For determining the RELION it is necessary to calculate then-vectors p1,… pmand to evaluate the factorKof the linear control lawu= Kp1x. Two algorithms for calculating these parameters are presented.