# Problem 3: How to deal with the saturation?

From MurrayWiki

** Q: **
For modeling this system, is the saturation of the control input a
fundamental nonlinearity that we just toss out by assuming a local
domain, or can this saturation be modeled formally?

** A: **
In this problem, you're trying to prove stability about an equilibruim point --
thus, you can deal with the saturation of the control input by proving
that it is linear in a region sufficiently close to the equilibrium
point.

--Lindzey 07:55, 15 October 2006 (PDT)