Estimating the Region of Attraction of Nonlinear Control Systems with Saturating Actuators

This paper focus on the problem of estimating the region of attraction of nonlinear control systems that can be put in a rational algebraic-differential form. The estimates are computed by means of invariant domains associated to rational Lyapunov functions. The saturation effects are taken into account by the use of a generalized sector condition for deadzone nonlinearities. These ingredients lead to the formulation of an LMI-optimization problem for computing regions of stability for the closed-loop system.