Practicing Engineers, advanced graduate students and researchers in areas related to control engineering will find the systematic approach and new results useful. Some background in nonlinear control systems and a first year graduate course in linear systems and multivariable control would greatly facilitate the reading of this book. Every physical actuator is subject to saturation. When the actuator saturates, the performance of the control system designed without considering actuator saturation will seriously deteriorate. Currently there's surge of interest in increasing the practical applicability of control theory by incorporating the effect of saturation into the design of a control system. Control Systems with Actuator Saturation Analysis and Design examines the problem of actuator saturation in depth. The overall approach takes into account the saturation nonlinearities at the outset of the control design. In the case that a control law is designed a priori to meet either the performance or stability requirement, it analyzes the closed loop system under actuator saturation systematically and redesigns the controller in such a way that the preference is retained while stability is Improved. It also presents some related results on systems with state saturation or sensor saturation.