Stability of Multivariable Systems with Saturating Power Amplifiers

A procedure for establishing an approximation of the region of attraction for multivariable systems having saturating power-amplifiers is proposed. The systems may be unstable. Time-domain-methods are used in this paper extending results published in a recent paper. The correspondence with frequency-domain-methods and the physical interpretation is discussed. Finally the importance of an appropriate scalling of the state-variables is emphasized.