Observability of linear systems with saturated outputs (Q1329947)

Output saturated multivariable systems of the form \[ \dot x(t)= Ax(t)+ Bu(t), \qquad y(t)= \sigma(Cx(t)) \] with real matrices \(A\), \(B\), \(C\) and a saturation function \(\sigma: \mathbb{R}\to [-1,1]\), which is linear in some neighbourhood of the origin, are considered. Observability for this class of systems is characterized. Also the case of bounded inputs is investigated.