On the dynamics of nonlinear systems with input constraints

In this work we deal with the dynamical analysis of nonlinear systems with input constraints. A characterization of the domain of attraction of the region of controllability of an equilibrium point under bounded control is provided and the concept of regions of invariance within such domains of attraction is introduced and characterized. The concepts and results are illustrated through case studies on chemical reactor models. (c) 1999 American Institute of Physics.