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To add a little to Petrus' answer, for systems with constituitive nonlinearities, the effects of those nonlinear terms become significant at large amplitudes and in general shift the system resonances to higher frequencies. Therefore, you can get a satisfactory approximation by assuming small amplitudes throughout- and remember, in putting together a dynamic ...


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Simple answer: tune the controller such that it avoids saturation / rate limits at all cost, then use standard stability analysis techniques. Complex answer: Stability techniques like bode and nyquist are more or less a Rule-Of-Thumb method. Actual stability guarantees are based upon the logic that the energy in the system stays finite. The most broadly ...


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