Recent work addressing the stability analysis of controllers at code level has been mainly focused on the controller alone. However, most of the properties of interest of control software lie in how they interact with their environment. We introduce an extension of the analysis framework to reason on the stability of closed loop systems, i.e., controllers along with a model of their physical environment, the plant. The proposed approach focuses on the closed loop stability of discrete linear

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... trol systems with saturations, interacting with a discrete linear plant. The analysis is performed in the state space domain using Lyapunov-based quadratic invariants. We specifically address the automatic synthesis of such invariants and the treatment of floating-point imprecision.