In this paper we consider a bilinear matrix inequality (BMI) based method, which provides an ellipsoidal estimate of the region of attraction, for nonlinear constrained robust stabilization. Robustness against model uncertainty is handled. The method is based on an uncertain multi-model representation of the plant parameterized by affine local models and their respective supports in the state space. and an associated piecewise affine state-feedback: structure. We show that the method is applicable to uncertain constrained systems that are partially uncontrollable and open-loop unstable. (C) 2000 IFAC.