Stability analysis of Lur´e systems with saturation nonlinearities

We propose a stability criterion for Lur´e systems with saturation nonlinearities. Especially, fully exploiting properties of sector and slope conditions of such nonlinearities we obtain a more flexible and less conservative stability criterion than circle-based or Popov-based criteria in the literature. An example shows excellent performance of this criterion. We address the SISO case only because the extension to the multivariable case appears straightforward