  This paper considers discrete-time switched systems under dwell-time
switching and in the presence of saturation nonlinearity. Based on Multiple
Lyapunov Functions and using polytopic representation of nested saturation
functions, a sufficient condition for asymptotic stability of such systems is
derived. It is shown that this condition is equivalent to linear matrix
inequalities (LMIs) and as a result, the estimation of domain of attraction is
formulated into a convex optimization problem with LMI constraints. Through
numerical examples, it is shown that the proposed approach is less conservative
than the others in terms of both minimal dwell-time needed for stability and
the size of the obtained domain of attraction.
