Feedback systems with several differentiable non-linearities are considered. For the absolute stability problem a frequency domain criterion is obtained incorporating only slope information about non-linearities and containing a multiplier of the form P + (iω)-1Q, where P and Q are diagonal matrices. For the case of a single non-linearity, connections with similar results of other authors are discussed.
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Halanay et al. (1991) studied this question.
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