@article{coutinho_pagano_trofino_2004,  title={On the estimation of robust stability regions for nonlinear systems with saturation},  volume={15},  ISSN={0103-1759},  url={https://doi.org/10.1590/S0103-17592004000300003},  DOI={10.1590/S0103-17592004000300003},  number={3},  journal={Sba: Controle & Automação Sociedade Brasileira de Automatica},  publisher={Sociedade Brasileira de Automática},  author={Coutinho, Daniel F. and Pagano, Daniel J. and Trofino, Alexandre},  year={2004},  month={Jul},  pages={269–278} }