I have a motor that is driven rail to rail. So, in forward its +12 volt, and backwards its -12V, and it can also be at 0V. Can I call it a bang-bang controller, or is there some other name for it since it has 3 different control values? It is also very stable and accurate steady state, which I'm trying to understand since its just proportional with very large gain. My only guess is that the thing its coupled to has very high friction.