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We derive the probability density function of the positive occupation time of one-dimensional Brownian motion with two-valued drift. Long time asymptotics of the density are also computed. We use the result to describe the transitional probability density function of a general N-dimensional system of stochastic differential equations representing stochastically perturbed sliding motion of a discontinuous, piecewise-smooth vector field on short time frames. A description of the density at larger times is obtained via an asymptotic expansion of the Fokker-Planck equation.

The positive occupation time of Brownian motion with two-valued drift and asymptotic dynamics of sliding motion with noise