(*Nasser M. Abbasi, 9/28.2015*)
Manipulate[
 Module[{x},
  g[x_, r_, k_] := r - x/k;
  f[x_] :=
   Piecewise[{{-0.5,
      x <= -1.0}, {x + 1/2, -1 <= x <= -1/2}, {0, -1/2 <= x <=
       1/2}, {x - 1/2, 1/2 <= x <= 1}, {1/2, x > 1}}];
  data = First@Last@Reap[Do[
       sol = x /. First@NSolve[f[x] == g[x, r, k], x];
       Sow[{r, f[sol]}],
       {r, -2, 2, .2}
       ]
      ];
  Grid[{
    {Row[{Text@
        Style["Red color is linearized device output using feedback",
         Medium]}]},
    {
     Show[Plot[f[x], {x, -2, 2}, Exclusions -> None],
      ListLinePlot[data, PlotStyle -> Red], ImageSize -> 400,
      GridLines -> Automatic]
     }}
   ]
  ],
 {{k, 1, "k"}, 1, 20, .1, Appearance -> "Labeled"},
 TrackedSymbols :> {k}
 ]