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 re gion of controllability of an equilibrium point under bounded control is pr ovided and the concept of regions of invariance within such domains of attr action is introduced and characterized. The concepts and results are illust rated through case studies on chemical reactor models. (C) 1999 American In stitute of Physics. [S1054-1500(99)01901-1].